The Motion Control System Design Of Desert Information Perceive Robot

Desertification is the serious environmental problem in the world. In order to protect natural ecology, prevent dust storms and desertification, a much deeper research of desert is necessary. So we must obtain real-time data,such as the vibration frequency of desert sand, wind speed, wind direction and wind erosion, then use the analysis of data fusion and time series to build sandstorm dynamic reconstructed model and explore the mechanisms of causing sandstorm and the forecasting sandstorm methods. Due to the rapid development of wheeled robot technology and its mature, it is possible to use wheeled robot to collect a variety of information in the desert. Because the desert environment is particularly complex, so we must design a fast, efficient, and reliable robot motion control system to collect information in the desert. Using embedded Linux system, Modbus RTU protocol to research and realize desert information perception machine motion control system. The main contributions of dissertation are as follows:Analyse desert information perception robot motion model. The desert robot uses four-wheel independent drive, the basic motions include:go straight, front-left turn, back-left turn, front-right turn,back-right turn. In an ideal environment, we analyze desert robot straight moving and turning model, deduce the relationship between robot’s speed and robot’s motor speed in order to provide a theoretical basis for the actual control system programming.Using matlab simulink software tools to build the desert information perception robot motion control system model and simulate. First, according to the DC servo motor dynamic mathematical model to build DC motor servo system simulink model based on motor simulink model and simulate to get response curves of speed. Last, build control system in terms of desert robot running control algorithm. Simulating when the robot loads heavier or uphill. The system can adjust the speed to increase the motor output torque to ensure the system’s stability.Design the hardware interface circuit of desert information perception robot’s motion control system. According to the designing scheme of control system, design control system power supply circuit, clock and reset circuits, network interface circuits, serial circuit, SD card interface circuit, DC servo motor drive circuits.Design desert information perception robot motion control system software. Software design includes desert robot information perception straight control program, differential speed swerve control program, running fault detect program, running control program.