| Mobile robot is a machine that can automatically perform acts in a multidisciplinary field integrating computer,machinery,automation,and sensors.It can not only perform under human command,but also move according to the principles of prewritten procedures and artificial intelligence techniques.Due to its large supporting crawler belt,the crawler-type mobile robot has strong adhesion to the ground,small grounding ratio,small roller resistance,stable for running on uneven ground,and good ground adaptability and obstacle stability and any other advantages,mobile robot have always been the hotspot of all thermodynamic researches.In this paper,it adopts TMS320F28335 DSP as the core processor of airborne platform,C8051 MCU as the remote control platform core processor to complete motion control system of tracked mobile robot.The system design is completed by debugging and testing the whole system.The main research results of this paper are following:Firstly,according to the design requirements,it determines the structural scheme of front wheel belt swing arm tracked mobile robot,and offers the control system scheme of crawler mobile robot,which is based on TMS320F28335 DSP and C8051 MCU as the core control.Among them,TMS320F28335 is the main control chip of the airborne terminal,to control the driving wheel and the swing arm wheel motor.The C8051 MCU is the remote control platform main control chip to control signal acquisition,to send the signal to the airborne terminal with the E13-TTL-100 wireless serial module.At the same time,combined with requirements for the mobile robot performance,the parameters of the drive motor,reducer and encoder are calculated and selected.Secondly,the hardware design is finished in combination with the motion control system solution,including TMS320F28335 minimum system circuit,three-phase bridge driving circuit,H-type bipolar mode PWM power conversion circuit,current detection circuit and remote control terminal C8051 control circuit.Thirdly,based on the system scheme and hardware foundation,CCS as the development platform,it completes the motion control system software,including the host program,remote control main program and peripheral initialization,interrupt program,current detection,PID software design of control algorithm,SVPWM vector control algorithm software and part communication software design.Finally,carried out the software and hardware joint adjustment of the crawler mobile robot motion control system and the motion test of climbing and cross-squatting.The motion control system designed in this paper was verified by analyzing the debugging results. |
PDF Full Text Request