Design And Research Of The Motion Control Subsystem For Small Size Soccer Robot

RoboCup small size soccer robot system is a product of the combination of football and artificial intelligence multi agent system combined, it incorporates multiple disciplines such as robotics, intelligent control, image processing, wireless communication and mechanical design, reflects the strength of country in these areas indirectly. The whole system includes the communication subsystem, vision subsystem, decision subsystem and the body system, this paper pays the mainly attention on the research of the motor control of the bottom of soccer robot body subsystem, the traditional motion control is mainly based on MCU and DSP, but MCU control speed and accuracy can not satisfy the robot which in high speed movement, and DSP need more hardware circuit,So it needs better control algorithm as well as the platform to control the movement of robot. In addition, the space of robot system is finite, in order to reduce the occupied space, the size of the robot should be small. In a word, the controller with high speed, precision, and integration is the development trend.This paper realizes the fuzzy PID control algorithm and the detection speed for real-time robot. Concretely, the paper applies FPGA as the controller, and uses Altium Designer software to design the peripheral hardware circuit, and utilities Quartus II development environment by Altera company to write Verilog HDL.The main contents of this paper is as follow:(1) to simulate the traditional PID and fuzzy PID algorithm by Matlab to show the superiority of the fuzzy PID control algorithm;(2) to design hardware circuit, including the motor drive circuit, a boost circuit etc, and implements function of each circuit module through the debugging of multimeter, function generator and oscilloscope;(3) to realize fuzzy PID algorithm with FPGA, including the modules which has deviation module, fuzzy module, separate fuzzy algorithm module and the PID module, the module through the macro function module for each module with Verilog HDL or software development platform of built-in functions, and compile and simulation, verified the function;(4) to complete the detection of the real-time speed of motor with FPGA, including frequency module, demodulation module and counter module, then measure the real-time speed of motor by M method.