Study On The Control Of Wheeled Mobile Robot Speed Regulation System

At present, the study of robotics level has become the measure of a country an important aspect of intelligent development; it represents the current computer technology, automation technology and system integration technology to the latest development. With the rapid development of mobile robot, the robot technology plays an increasingly important role in industrial production and many other aspects of life, the control precision of its speed regulation system also have higher requirements. To MT-UROBOT wheeled mobile robot as the research object in this thesis, its speed control system studied in detail.Firstly, this thesis introduces the application and development of mobile robots, briefly discusses the classification of mobile robots and the current hot issue in mobile robots; then the thesis introduces the technology development of the speed regulation system, including the principles and modalities; and then introduces the mobile robot MT-UROBOT, analysis of the two-wheel drive robot mechanical structure and the differential speed drive with this object. Based on this, the thesis derives the mobile robot's kinematic model and dynamic model, also mathematical descriptions a few simple motions.With the development of electronics technology and computer technology, DSP-based all-digital intelligent control system has become the most important way of speed regulation system. The thesis introduces the wheeled mobile robot control system hardware and software constitute as the DSP chip TMS320LF2407A for microcontroller. Including the performance characteristics of TMS320LF2407A, the principle of PWM converter, the structure and function of the motor driver chip LMD18200, incremental encoder ZKX-6-50BM7 and it's principle of the speed and direction detection, and simple analysis of the speed regulation system initialization routines and interrupt routines.Control algorithm is a key part of the mobile robot speed regulation system,the merits of algorithm directly determines the level of system performance. The thesis based on the traditional PID algorithm, detailed analysis the control principle and the three parameters' role and impact on the speed control performance. Based on this, thesis designs the Dual-Loop PID Speed Regulation System, and carries out it's simulation under the MATLAB simulation environment. According to the simulation results, detailed analysis its control performance according to the speed regulation control system's steady-state performance and dynamic performance.Parameter tuning is an important part of the PID control algorithm, appropriate parameters can make the system performance to best. However, due to the actual system has lag and nonlinear and other factors, makes the parameter tuning has become a difficult to the PID control system. To solve this problem, the thesis introduces the fuzzy control and self-adaptive control strategy into the PID control system. The thesis completed the design of fuzzy inference system and Adaptive Fuzzy PID Controller based on the analysis of fuzzy control theories, and applied it to the Dual-Loop Speed Regulation System. Through the simulation results and performance target analysis, the Adaptive Fuzzy PID Controller System which designed in this thesis shows that the speed regulation performance achieved expected goal.Study on the control of wheeled mobile robot speed regulation system in this thesis provides a theoretical and practical basis for the mobile robot motion control, and has a certain positive significance for its development and application.