Design And Realization Of Tracked Explosive Ordnance Disposal Robot Motion Control System

Nowadays, even living in peace time, people still suffer from the terrorism in their daily lives, especially from the explosion events. With robot technique developing greatly, people use robot technique in explosive ordnance disposal, which leads to the birth of the explosive ordnance disposal robot(the EOD robot). The EOD robot has great effect on protecting people from explosion. At present, the usage of the EOD robot in our country is hard to spread because of the high cost.In order to control the tracked EOD robot, the closed loop control system is built by using DSP and FPGA as the processor, gyroscope and infrared sensor as motion sensor.Besides, the Zedboard is used in the control system to provide visual information. To divide functions of the two chips, DSP is used to contact with the upper computer, control the robot arm and contact with FPGA. At the same time, FPGA is used to select and process the data from the sensors and control the moving mechanism.FPGA is used as the controller, with gyroscope as the motion sensor, in the tracked EOD robot’s moving control.First, the open loop system model in controlling the angular velocity around the geometrical center of the EOD robot can be built by using kinematic analysis and control system theory. After acquiring the open loop system model,the closed loop control system can be built by taking the strategy that fixing the motor’s velocity on one side and adjusting the motor’s velocity on the other side to realize the moving control of the EOD robot. With the closed loop system model, digital PID controller can be designed. PID controller’s parameter, which can lead to no overshoot or steady-state error in system output, is determined. In controlling the movine mechanism, FPGA is programed to select and process datas from gyroscope according to Digital System Design Methodology. Combining commands from the upper computer and datas from sensors, PID controller is realized in FPGA to correct the motion of the moving mechanism. Besides,by using the infrared sensor,the EOD robot can realize obstacle avoidance itself.At last, the EOD robot is tested by taking a series of experiment:basic motion experiment, obstacle avoidance experiment, controller’s effect testing experiment, target object transferring experiment. The result of the experiment indicates that the EOD robot acts quickly to the command from the upper computer.Besides, the EOD robot can overcome the disturb during the movement process and transfer the target object steadily by using the controller.