Research Of2-DOF Pan-tilt Drive-serve Controller System Based On ARM

A pan-tilt is main for the installation, the fixed camera support equipment.Tranditionalpan-tilt is mainly used for monitoring and safety protecting in large-scale spaces, and alwayswith large size, complicated structure and limited range of speed adjustment, that is to say, thereare few pan-tilts can be used for small-sized mobile robots to realize robot visual servo control.A pan-tilt in foreign countries are difficult to be adopted, for their high product cost anddelivery problem. As a result, there is very important application value and meanlingfulinfluence in researching and developing small-sized robot pan-tilts with accurate localization,large range of speed adjustment and low cost. Therefore, this thesis mainly analyzes andinvestigates one kind of2-DOF pan-tilt with integrated drive-serve controller based on ARM.The main research achievements are as followings:According to all functional demands, an expected technology criterion and specificationhave been proposed as a basic goal in this thesis:Based on the goal and by comparing many examples, the architecture of pan-tilt wasestablished, and the scheme of adopting DC motors with gear reducer, incremental encoders, andan integrated drive-serve control system scheme based on ARM proposed. In particular, thekinematics model based on D-H method and inverse kinematics model based on geometry wereanalyzed and established, and the work space of pan-tilt was analyzed by Monte Carlo analysismethod.According to DC motor speed control system with nonlinear characteristics, In thisthesis,we use the time-varying inertia characteristics correction functionα (δ, γ)and design a onezone change amendment right to function FUZZY-PID control algorithm. The algorithmcombines fuzzy control algorithm, the PID control algorithm and intelligent weight function withtheir respective advantages.It don’t need to determine the membership function of fuzzyvariables and the control rule table,and with small control system operator. The algorithmequivalent to the conventional PID control algorithm, but the performance is better than theintegral separation of the conventional PI control algorithm with intelligent weight functionfuzzy control algorithm.The integrated drive-serve control system based on ARM was researched and developed.The main Hardware, include power supply circuit, driver circuit, interface circuit, the sensordetection circuit and the communication circuit portion. The ARM interface module, this thesispresents an improved simulated annealing algorithm on the basis of the analysis of simulatedannealing algorithm principle. Indicator of system performance optimization,simulated annealing-golden section algorithm with this time-varying parameters of the modified weight functionFUZZY-PID controller to optimize the design.Simulation result shows that the proposed algorithm control of high precision and stabilityof the excellent is more suitable for2-DOF pan-tilt control requirements.