The Study Of Soccer Robot Mobile Platform's Driving And Control System Oriented RoboCup Middle Size

It is a highlight on the study of RoboCup middle size in robot soccer game today. Robot soccer game is a tournament combined knowledge with amusement, and it also is a visual window to show high science and technology achievements. RoboCup middle size represents the top technological level in the field of RoboCup, it requires the teams played to adopt mobile robots as their bottom platforms. To perform excellently, soccer robot mobile platform must have a good motility. The driving and control system of platform is an important parts of the robot. At present, most mobile robots use traditional servo motors as their drivers. This kind of system has a complex mechanism, high price, and a big deadweight. So, it can not need the RoboCup robot system. Moreover, soccer robot and multi-serving mobile robot have some similarities in structure. Serving robots have a greatly potential market, but they can not appear commonly in our life , an important factor is the price of robot. So, I think we can improve the traditional driving and control system of the mobile robot, and develop a kind of soccer robot mobile platform which is high capabilities and low-cost. This is not only the need of robot soccer development, but also the requirements of the improvement of life.In this paper, the study of soccer robot's driving and control system oriented RoboCup middle size is achieved entirely. In the servo driving system of the robot, expensive servo motors are replaced by common direct motors and magnetic encoder. Finally, the closed loop control of motors are successful realized. As the result, the performance power ratio of robot is increased, which provides a possible to translate research achievements into industrialized. In the form of robot control, traditional control structure named double -wheel differential control is improved, and a new idea is proposed. This new method takes two wheels' motors as differential control unit, the guide wheel motor is controled as the assistant unit.Complete H bridge driving circuit is achieved to drive motors in the hardware design of robot's driving and control system. It adopts PWM digital signal as its control signal. This kind of circuit has some advantages , such as economical, room saving, good resistance against noise. It also can eliminate the dead field of motor static friction efficiently. Through this circuit, motors can get a good steady state when low speed. In the design of robot control circuit based on DSP and CPLD, TMS320LF2407 is used tocontrol the motors as a digital controller. This circuit can complete the duty to control robot's right wheel motor , left wheel motor and guide wheel motor by PWM signals. In the study of control arithmetic of driving motors, the closed loop control of position introduces an arithmetic named intelligence PID. Using this method, the modeling process of motor's mathematic model should not consider, so the develop period of robot driving and control system should be shortened. At the same time, the intelligence of control system is increased greatly. The mechanical structure of soccer robot is the final executer in soccer game, in this paper, some research on robot motors' and powers' selection, space layout, and shoot machine design are achieved.The real-time and robust of driving and control system is a key factor to determine robot capabilities to be good or bad, and the self-adaptive capability also is an important part to show robot's intelligence in some circumstances. In the end of this paper, many experiments and tests are operated to demonstrate robot's basic capabilities, including avoid-collision, avoid-obstacle, and shoot. The results show that robot has a good adaptive capability to its circumstance around. From another point of view, these results justly test the reliability and flexibility of the design of robot driving and control system.