Research On Robot Stabilization Platform Design And Control Based On

Eod robot is used to assist the eod personnel disposal or destruction of explosion suspicious. Due to the serious harmfulness of explosives, thus ensuring stable performance of robot complete the task is very important. Stabilized platform with gyroscope as the sensitive element to sensitive carrier attitude changes in inertial space.Through the controller to control the torque motor output, make the work on the carrier of eod robot arm to operate in a stable state. In this paper, based on the gyro stabilized platform of eod robot arm as the research object to study the key technology of system.This paper according to the job requirements of the eod robot arm to determine the structure of stabilized platform ang the formulas of the principle of the stabilized platform stability.According to technical parameters and stable platform for control system function and demand analysis of each link, was carried out on the key components selection, finally summarize the factors affecting the stability of the platform.The essay focuses on the study of MEMS gyroscope signal processing.Allan variance method is used to determine the gyro signal source of random error, and then the gyro signal preprocessing and inspection, finally establish a random drift ARMA model and kalman filter. This paper for the stabilized platform control system hardware design, the main modules in system design and circuit principle chart drawing, the final design of PCB diagram and the PCB design rule checking.According to the inspection results to adjust PCB, ultimately determine the PCB design is correct.The essay focuses on the study of stabilized platform control system. Established a stable platform control system for each link and the mathematical model of control circuit, control circuit for network and PID control is designed, and designs the fuzzy controller. Finally through MATLAB simulink module to control circuit and simulation, the simulation analysis comparison PID, fuzzy and fuzzy PID control of the differences.Finally, designing the control system of the main program and interrupt program. The main module includes:gyro signal acquisition and processing program design, control algorithm, motion control module and position feedback module. And each module design flow chart is given.