The Design Of Intelligent Wheeled Robot Platform

The design of the intelligent wheeled robot is mainly based on the design of the mechanical structure,software and hardware in this thesis.The research of intelligent wheeled robot which has high research value is a branch of the robot research field.It is used in industry,agriculture,medical industry and others.On the basis of embedded technology, the platform of intelligent wheeled robot is designed and manufactured, which is controlled by the form of the host computer to send commands.The platform realizes the basic movement(forward, backward, turn around), two wheeled self-balancing, speed control and obstacle avoidance function. The system involves mechanical structure design, drive motor and sensor circuit design and data processing, control algorithm, rt-thread operating system,software debugging and so on.The construction of the intelligent wheeled robot platform mainly includes: the mechanical structure, the hardware circuit and the software flow of the control system.Mechanical structure is divided into: normal mode and balanced mode, The hardware circuit is mainly from three aspects:the control core, motor drive and current detection. Part of the embedded software using rt-thread operating system to programming.This paper focuses on the research and implementation of three-phase DC motor drive algorithm, PID speed control and two wheel self balancing algorithm. Motor drive algorithm divided the state of the motor into one and two level,using command mode and pid algorithm to control the motor; Two wheeled self-balancing base on model build,the analysis of transfer function, through the mean filter and Kalman filter + angle PD algorithm and speed PI algorithm, to reach the destination of basic movement(forward, backward, turn around), speed control and direction control in balance state.After a lot of experiments,the parameters of Calman filter are determined preliminarily. Through the actual experiment, the control parameters are determined,such as: PID motor speed parameters, self-balancing angle PD algorithm parameters and speed PI parameters,etc. On this basis, through the experimental analysis, Motor drive algorithm can effectively reduce the commutation current and the angular and angular velocity variation trend of two wheeled self balanced condition is analyzed.In this paper, a wheeled robot platform as the core, a variety of algorithms are studied and the experimental parameters are determined. The platform implements two modes: normal mode and balanced mode, which provides a good platform for future research.