The Application Research Of "Quasi-Equivalent" Modeling Based On IGA In Double Loop DC Motor Control System Of Autonomous Soccer Robots

Soccer Robot is one of hot issue in technology research nowadays. It contains the high technology and the entertainment. Also, it is a right experiment platform for the new theories and methods in the area of artificial intelligence, robotic and the computer vision.All most of the control system is designed off-line. The most important problem of the control system design which is must be solved firstly is how to found a model to subsititute the real controlled device. The "Quasi-Equivalent" modeling based on IGA, utilizing the main characters of the controlled device, can get a reasonable structural and parameters precise model. The method can reduce the difference of the model and the real object; shorten the transition form the simulation to the real-time control.Based on the above background, double loop DC motor control system (DLM) is posed from the application of the autonomous soccer robot. The DLM is the typical approach to compose the DC motor drive system. It is very important part of the actuators. The modeling of the DLM has very broad meaning.Firstly this paper made a deep study on the mechanism of the DLM. Then, using the method of characteristic analysis and"quasi-equivalent"modeling, the model of double loop DC motor control system has been reduced to a simple non-linear state space model. Further, based on the real rotate speed response character, the improved genetic algorithm has been indicated to accurately identify model parameters.For verifying the validity of this method, we build an experiment platform on the General Bar autonomous soccer robot. The main hardware of the platform is MAXON motor and servoamplifier, while the software is design based on theμC/OS-II embed operating system. Moreover, the two sets of the DLM of the General Bar autonomous soccer robot are modeling by the"quasi-equivalent"method. Experiments of comparing this model with other common model proved the model which is established by"quasi-equivalent"method can substitute the real DLM. The simple model changes the whole system from qualitative analysis to quantitative research.Furthermore, this paper design a motion control experiment platform based on the two sets of the DLM precise models. The comparing of the simulating data and the data recorded by the milemeter approve that the control algorithm designed on the simulate plafform can apply to the real situation diretly. The model speeds up the research of the motion control and the strategy system.