| With the rapid development of computer, network, mechanical electronic, information, automation and artificial intelligence technologies etc, the research of mobile robot has entered a new stage. The configurations and control systems are always the focus in the research of the mobile robot.The control system of the mobile robot is the base of realizing robot moving. The present design of robot moving unit combining motor driver and control system, which considered as a simple method, distributes the control system in several parts, occupying more space and control resources, limiting the upgrade of control system. Given the problem, a control system which can integrate all parts was designed in this paper. Mutiple algorithms can be applied on this system avoid the waste of control resources on moving unit.The key point of the research is the control system of the mobile robot moving unit. The periphery set of motor driver, control system and basic moving control algorithm of the mobile robot are integrated in one system. The motor driver is more easy to control with the periphery chips sets. Using the high speed calculating function of the control chips,the control of the motor will be very convenient. Based the system,the robot can achieve basic motion using convention robot control modal. In addition,the constraints modal of two-wheel mobile robot was introduced,and moving control rate of point stabilization and trajectory program was designed。Theoretically the stability of moving control algorithm was proved by Lyapunov stability theory. The validation of the control algorithm was verified by the simulation experiment in the end. |
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