Font Size: a A A

Study On Design And Control System Of Resistance Robot

Posted on:2008-11-17Degree:MasterType:Thesis
Country:ChinaCandidate:Y R ZhangFull Text:PDF
GTID:2178360215959546Subject:Underwater Acoustics
Abstract/Summary:PDF Full Text Request
In order to promote the development of robot in our country and make progress with the technology of robot, the national undergraduate robot TV games have been held by CCTV since 2002. That's the background of this paper,which investigates the design and development of control system for wheeled mobile robot.This article has designed an interchangeable control platform which performanced in the competitions. The main work and research results of the thesis includes the following: 1. This thesis detailedly discusses the exploitation of MCU application system based on SPCE061A, the designing method and application of each function module, such as RS-485 communication module, keyboard module, power module, displaying module, I/O expanding circuit, and so on. 2. The system takes photo-electricity coder as angle position sensor, using brush DC motor as servo motor. The full-digital servo system is based on controller MCL2805. The main algorithm is the triple-loop control method, including current-loop, velocity-loop and position-loop, which realized high frequency response, low speed, wide speed range and high precision. 3. We create the model of system and make simulation with Matlab and SIMULINK software, so that present the guide for establishment of subsequent control strategy and design of control system, furthermore that preliminarily ascertains the several parameters of controller. 4. Driving circuit is to be used of unipolar limited H bridges consisted of power MOS transistor.The contest robot control universal platform can be generally used, ported and extended, which builds the technology platform of embedded control system for the contest robot.
Keywords/Search Tags:Robot, Robot Contest, Wheeled Mobile Robot, RS-485 Bus, SPCE061A
PDF Full Text Request
Related items