摘要
基于差速转向原理,设计了一套轮式移动机器人的运动控制系统。首先选择小车的模型(运动模型),进行运动学和力学分析,得出左右两侧车轮的速度约束,然后设计机器人的运动控制模块和无线遥控模块。运动控制模块可分为控制电路和驱动电路两大模块,控制电路以DSP作为核心控制部件,捕获编码器的信息并产生PWM信号;驱动电路以直流电机H桥集成芯片为驱动部件,接收来自DSP的控制信号。无线遥控模块选用AVR单片机作为控制核心,实现A/D转换和指令发送等功能。实验证明,该系统不仅能实现较长距离的无线控制,传输可靠,而且速度控制准确,车体运动灵活。
A motion control system of differential steering wheeled mobile robot was designed on the basis of the differential steering principle in this paper. A trolley model（motion model）is selected firstly to conduct kinematics and mechanical analysis,and obtain the speed constraint of the wheels on both sides. Then the motion control module and wireless remote control module of the robot are designed respectively. The motion control module can be divided into two parts：the control circuit module with DSP as its core which can obtain the encoder information and generate PWM signal,and the drive circuit module with Hbridge driving chip which can receive control signal from DSP. The AVR microcontroller is taken as its control core of the wireless remote control module to realize the functions of A/D conversion and instruction issue. Experimental results show that the system can not only realize long distance wireless control reliably,but also have accuracy speed control and flexible body movement.
出处
《现代电子技术》
北大核心
2016年第2期22-27,共6页
Modern Electronics Technique
基金
国家自然科学基金(61203332)
