摘要
针对四轮驱移动机器人对多电机控制和实时性的要求,提出了基于嵌入式系统设计的机器人控制器和分层控制方案;以ARM9核心处理器S3C2410作为主处理器进行速度检测、控制运算和通信等任务,以CPLD芯片EMP240作为辅处理器实现多电机控制;在监控主机上运行应用反步方法设计的运动学控制器,在嵌入式控制器上运行速度预测控制器,分层控制以提高系统到实时性;仿真和实验结果表明,所设计的控制器和控制方案是有效的,达到了预期效果。
This paper proposes a hardware control system and a hierarchical control strategy. In the hardware system, S3C2410 is used as a main microprocessor implementing velocity detecting, control algorithm and communication, and EMP240 is used as a master coprocessor to control multipath motors. In the hierarchical control strategy, a kinematic controller is designed by backstepping method and a velocity tracking controller is designed by model predictive control method. The simulations and experiments show that the hardware control system and hierarchical control strategy are valid.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第3期551-554,共4页
Computer Measurement &Control
基金
国家973项目(2004CB318000)
关键词
移动机器人
嵌入式系统
轨迹跟踪
分层控制
mobile robot
embedded system
trajectory tracking
hierarchical control
