Study On The Teleoperation System Of Two-degree Freedom Off-road Vehicles

With the development of economy and improvement of living standards, people begin to be more concerned about the safety of operators who work in hazardous areas, therefore more requirements are raised about security problems. If the operators can be freed from the hazardous areas and replaced by machines, it will greatly improve the safety of operations, avoid casualties and reduce the loss of property. This paper studies on the teleoperation system of two-degree freedom off-road vehicles, by which the operator can remote control the two-degree freedom off-road vehicles and complete the danger detection and elimination work in hazardous areas. This paper aims at teleoperation research, conducted without affecting the manual operation function of the original vehicles, therefore it is of practical significance for the remote modification of some construction vehicles.It illustrates the basic conditions of vehicles and the functional requirement of the teleoperation system. Furthermore, based upon analysis of the general conditions of vehicles, it establishes a mathematical model, and selects the corresponding control methods. At the beginning of describing the hardware design principles, namely, better anti-interference performance and faster response. Hardware design mainly includes the selection and performance analysis of components involved, the design of interface circuits, peripheral circuits and circuits of some practical applications. Component selection includes the selection of microcontroller, wireless transceiver module, A/D and D/A converter. Other practical circuit design includes power modules design, PWM signal circuit design, electromagnetic driver circuit design, signal amplification circuit design, power amplifier circuit design and motor driver circuit design. Besides, this chapter also briefly discusses anti-interference measures adopted in hardware designs. The software design mainly consists of primary-end control system software design and secondary-end remote control vehicle software design. The former includes four most important programs of primary-end control system:data collection programs, stalls reading programs, data processing programs and data sending programs; the latter mainly introduces data receiving program design and data recognition program design, the two most important remote control vehicle system programs. In addition, this chapter also gives a brief introduction of anti-interference measures taken in software designs.Simulation and experiment. At first, A/D conversion and D/A conversion are simulated by using PROTEUS. Then by comparing the original input signal with the processed signal resulted from A/D conversion and D/A conversion, it can be found that signal can be followed stably, and can meet the control requirements. Besides, the experiment on wireless transceiver system confirms that the transmission is in favorable conditions, and with the transmission distance of about 100 meters, it is of certain practical value in the actual industrial control.Summary and outlook. This paper explores the teleoperation system of two-degree freedom off-road vehicles. With SCM acting as the core of the wireless control system and without changing the original manual control functions, its remote control functions are achieved with a relatively low cost, and its data transferring rate, reliability and control performance are impressive. All in all, this paper has very important practical significance.