| The role of robots in industrial production has laid the foundation for wide application of mobile robots. Intelligent mobile robot is penetrating into marine, aviation, aerospace, military and other areas at an alarming rate with the development of computer technology and robot technology. It has been produces all kinds of mobile robots to meet different application needs. Wheeled mobile robots is applied more and more widely because of simple structure, easy to control, good stability in high-speed running, energy untilization ratio is high, and appropriate gear train configuration can make it suitable for work in various environments. This paper is to make wheeled mobile robot as control object and its control system is investigated deeply.Mobile robot is mainly composed of economy part, driving system, control system, sensor system and information processing component, etc. Among them, control system is the core, it is just like human brain. Information processing unit can acquire and deal with the signal coming from self-sensing systems and send them to control system, which can accomplish control mobile robot by control algorithm. With the rapid development of power electronics technology, computer technology and control technology, servo-drive systems is becoming fully digital, intelligent, which can greatly meet the requirements of high-precision and high reliability for servo drive system. At the same time, the high-speed requirement of driving system to control mobile robot also become the main problem of the development of control system. The development of DSP (Digital Signal Processing) technology makes the high-speed reduirement of control system becoming possible.At present, DSP.2000 chips are widely used to control motors because that DSP2000 series chip contains capture unit and a quadrature encoder circuit, which can easily test motor speed and control the motor. In this paper, the motor control system with TMS320F2812DSP chips produced by TI has been developed. The hardware of the control system combines of power conversion modules, power drive module, signal isolation module, optical encoder and DSP interface circuit module. The software part of it includes motor speed detection and mobile robot motion control, which achieved controlling mobile robot. Here, M/T method is used to measure the motor's speed, the control algorithm, integral separation PID has been adopted to control motor's speed. In this paper, the simulation of controlling motor with control algorithms (including PID and integral separation PID) has been done on MATLAB to verify the correctness and feasibility of control algorithms. The speed of motor is measured with M/T method. On the way, the motor speed was been controlled on CCS that is DSP's development environment, and the curves of motor speed was drawed as figure. It was verified that the control system of mobile robot designed based on DSP2812 could achieve closed-loop control for DC servo motor. The purposes of research and exploration for mobile robot control system are carried from the research results. |
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