Barrel Cleaning Robot Control System Design

Taking barrel cleaning robot as a research object, design and research on the control system based on barrel cleaning robot. Combination of the internal environment of the barrel and working conditions, designed a set of control system be suitable for diameter upper 150mm barrel cleaning robot.First, according to the pipe robot research status of the whole world, design a control system based on ARM microcontroller; separate of the function into two subsystems, motor control module and video image acquisition module. Part of the motor control module includes signal separation circuit, protection circuit, current detection circuit, power inverter circuit, filter circuit and the buffer circuit. Image acquisition module includes image sensor and control-chip. Considering of the insufficient light in the internal barrel environment, design of lighting systems, data transmission interface using a simple USB interface.Second, apply controlled arithmetic into the motor control system, and adopt double-closed-loop control plan, using conventional PID and fuzzy PID control theory. And simulate in MATLAB / simulink environment. Experiments show a good result to meet the initial needs of barrel cleaning robot.Finally, design of the software program based on the hardware circuit. Achieve a variable frequency, adjustable duty cycle of the PWM waveform by setting the S3C2410A (ARM9) controller's PWM timer registers. By adjusting the voltage to achieve the speed adjustment.Interrupt controller to use to capture the motor's Hall sensor output signal. A/D be used to sample speed signal. Then feedback it to the PWM timer.Image acquisition system uses the currently popular "no-driver" design concept, adopt USB1.1 advanced specification.Develop Stream Interface Driver supports the embedded OS Windows CE 5.0 in the environment EVC4.0. At present, obtain video image and data display fluently, a higher image quality can meet the requirements of the detection task.