The Modeling Under Variable Load 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.Autonomous Soccer Robot is one of the hot fields in technology research nowadays. The feature of Autonomous Robot Soccer competition is autonomous completely, that is, each robot must take varieties of sensors, controllers, drives, power supplies and other equipments with itself. 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.Whether the bottom drive control is good or not has a great influence on the performance of the motion & the results of the competition. Thus the bottom drive control modeling is very essential. Nowadays most of the control system is designed off-line. Therefore making the model close to the actual system, instead of the actual controlled object, is one of the most important problems of the control system design.The characteristic analysis and the modeling method of the "Quasi-Equivalent", 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. In the competition of the Autonomous Soccer Robot, the external load of the bottom drive system is always changing. In order to make the off-line-design controller closer to the actual system, it needs modeling the bottom drive system with time-variety load.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 with time-variety load has very broad meaning.In this paper, basing the model of the double loop DC motor control system that using the characteristic analysis, the modeling method of the "Quasi-Equivalent" which is fit for Constant load, analyzing the changes of parameters in the model when it's under changing load conditions. Through the states of drive motor current and motors turning, it builds the functional relations between the model's parameters, doing the parameter identification with improved genetic algorithm and using the method of curve fitting, finally, we get the model of double loop DC motor speed control system under change load conditions.Finally, on the General Autonomous Soccer Robot we establish the MAXON motor and dual closed-loop drive as the main hardware platform. We model the dual closed-loop and variable speed control system with the time-variety load on the General Bar Autonomous Soccer Robot. Through the experiments of practical system we confirm the validity of the model, it can be a good substitute for the actual system.