Design And Research On Control System Of The Mobile Robot

As the actuator of robot system, the control system effects the stabilization of the robot evidently. With the advancement of control theories and the development of electronic techn- ologies, the robot system is developed with high speed, high accura.teness, open-architecture, and intelligence. For the high speed and high accurate location-control and trajectory tracking, the mobile robot system must rely on advanced motion control theory and fine motion control structure.In this paper, we use the LPC2119 microprocessor as the chief chip to design the movement control system. The paper discusses the hardware realization of our mobile robot system based on the LPC2119 microprocessor, and introduces the design method of the system software based on the real time operation system μCOS- Ⅱ, and finally discusses the speed control system of the motor based on fuzzy PID method.First, the hardware constitution of the mobile robot is discussed. It narrates emphatically the design method of LPC2119, the using method of serial communications as well as the method of the speed survey of the motors. The way of choosing the motor is discussed in this paper, and the driving technique of the motor and the debugging method is recommended. The rotot's sensor system is designed in the article, including the precise supersonic sensor, the collided switch sensors and the evading-bumo the supersonic sensors.Second, the design method of the software system the mobile robot based on the real time operation system is introduced. The using technique of uCOS- II is introduced at first. Then the system software is dismembered into several parts according to the different function. The control subsystem of the evaded bumps supersonic sensors is realized by using the RTOS51.Finally, realization method on Lpc2119 of the fuzzy PID controller is discussed. At first, the paper introduces the mathematical model of the mobile robot and the design method of fuzzy PID controller. Then we compare the ordinary digital PID controller and fuzzy PID controller by using the MATLAB's SIMULINK module. Finally we repot the fuzzy PID controller to ARM microprocessor.