Design Of Intelligent Cleaning Robot Control System Based On Fractional Calculus

With the progress of society and the development of economy, high technology has been changing people’s daily lives at a relatively high speed. The fast pace of life has determined people’s demands for freeing themselves from heavy cleaning work. As one kind of service robots, cleaning robots have been gradually replacing human beings to do the cleaning indoor and outdoor. Combining both cleaning and robot technology together, cleaning robots have a relatively bright research objective and a very broad application prospect.On the basis of literature investigation and market survey, the thesis introduces robot products now available at the market, expounds development status and tendency of the existing robots, and analyzes some key technology in terms of making robots. Not only are the source, purpose and significance of this subject illustrated in this part, but also the main work of the thesis is clearly presented.The thesis gives an analysis of system functional requirement according to which the scheme of the overall robotic system is planned and designed in this part. Meanwhile, it makes a detailed description of bottom design, power management system design as well as the design and model selection of other major components. The eventual navigation scheme is adopted by means of describing navigation methods. In the final part, the thesis elaborates on the structure of robots, analyzes it from the perspective of dynamics and selects models for critical components.The thesis makes hardware design and circuit reliability design of the control system parts. It is worth mentioning that the hardware circuit includes a master control, a power supply, a sensor, and navigation circuits. And the thesis makes a test and experimental verification of unit circuits in each part, offering an explanation of announcements in the process of PCB design.The thesis gives a theoretical derivation and emulation proof of the fractional order controller. Based on a motor model, it makes fractional PIλand PDμ controller design of the model and makes the fractional order controller work things out through using software algorithm. In the conclusion part, the thesis gives an introduction of the technological processes of writing software algorithm and navigation algorithm. Furthermore, it makes a presentation and comparison of experimental results produced by different controllers.The final tests show that the robot satisfies the requirements of indoor service robot, has nice ergodicity and good stability.