摘要
机器人足球是集视觉处理技术、无线通讯技术、电机控制技术、智能决策对象等多种技术的综合系统,是当前人工智能和机器人领域的研究热点之一.简要介绍了ROBOCUP小型机器人足球系统框架,对小车子系统的电机控制电路部分引入串级控制,通过DSP芯片及传感元件对电机速度和电机电流实现双闭环控制,提高了机器人速度响应的性能指标.
Robotic soccer has become an interesting and attractive platform for robotic experiments and research. The dynamic response feature of soccer robot is crucial to the overall system. This paper is dedicated to improving the dynamic response of robotic movement in small\|sized ROBOCUP matches. Instead of the widely used single closed loop control system based on speed feedback, the authors apply cascade control system by introducing current feedback circuit to the single loop control system. The outer loop is to regulate the speed of the wheel. The inner loop is to adjust the current flowing through DC\|motor. the authors utilize this cascade system by DSP and choose the optimized control parameters of two closed loops based on the mathematical model of DC\|motor. The step and pulse response of the proposed cascade control system is demonstrated using MATLAB simulations. The results show that the response time can be greatly shortened and overshoots can be reduced. It is clear that cascade control system can improve the dynamic response of a soccer robot.
出处
《工程设计学报》
CSCD
2003年第4期174-178,187,共6页
Chinese Journal of Engineering Design
基金
国家"863"计划智能机器人资助项目(2001AA422270)
浙江省自然科学基金重大资助项目(ZD0107).
