| Antarctic area, which is rich in mineral deposits and other undetected resources, is regarded as a great treasure for scientific exploration and discovery. However, the harsh Antarctic meteorological condition and topography not only limit scientific research development in breadth and depth, but also threaten scientists who is engaging in outdoor researches. Autonomous mobile robots, which are designed to assist or replace researchers to carry out scientific activities, are widely concerned because of advantages of high efficiency, low cost, long working time. Along with Antarctica exploring activities moving in depth, it requires robots to have self-supply abilities. Taking into account Antarctic plentiful wind and solar resources, we build the control system of a wind-powered and sled roaming robot. The autonomous robot is able to roam in a specific area endlessly, which has practical significance in Antarctic scientific expedition.Firstly, we design objectives and requirements for the robot after considering the robot’s mechanical structure and control system structure. In order to control sailing and steering motor, we design an embedded motor driver using TMS320F2812 chip as a core. The motor driver, with simple structure and reliable software system, is used to control DC brush motor position movement.Secondly, we build a speed control model for the robot, of which the core part is the control algorithm of the upper system. Considering the variability of environmental factors, we integrate the fuzzy PID in the algorithm part to control robot speed when driving straightly.To meet fundamental requirements of the control system, we complete control system hardware selection and construction. Referring to multitask and modular software structure, we complete the software system based on QNX real-time operating system.In order to make the robot roam in a vast area without manually power supply, we installed a solar power system on it. In this thesis, we introduce the system from aspects in working principle, hardware and software design, battery selection, solar battery selection in detail.Finally, we describes procedures of carrying out the outfield experiment. From experimental results, we see that the robot system has already achieved the desired goals and shows some practical significance. |
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