Design Of Travelling Control System Of Material Turning Vehicle Simulation Model Based On ARM

With the rapid development of science and technology, the application of mobile robots will be more and more widely. As a special application of mobile robot, the material turning vehicle is playing an increasingly important role in the field of organic waste disposal. However, when the material turning vehicle works in the square pool shaped drying field, being lack of an intelligent travelling control system,the effect of turning material is not ideal. In view of this problem, this paper uses the intelligent vehicle to carry on the simulation, and designs a set of intelligent travelling control system based on ARM.The intelligent control of the travelling control system mainly consists of three parts: straight driving control, translational control, and vehicle speed control. In the process of straight driving, with the fuzzy control algorithm, the vehicle can run along a straight line which is parallel to the left wall of the drying field. When the distance between the vehicle and the front wall is less than the safe translation distance, with the fuzzy control algorithm, the vehicle can accurately translate a vehicle wide distance to the right, and shift into reverse straight driving control. The straight driving and the translation process alternately, which ensures that each area can be turned over and over. In order to ensure that the vehicle can effectively achieve the straight driving control and translational control, the speed of the vehicle should be controlled effectively.Firstly, this paper analyzes the function of the control system, and puts forward a hierarchical control system based on human-computer interaction. Secondly, this paper designs the hardware circuit of the travelling control system based on STM32F103RET6 chip, which mainly includes motion control module, electronic compass module, distance measurement module, speed measurement module and wireless communication module. Thirdly, the software design of each function module is introduced, especially in the software design of the electronic compass modul;this paper expounds how to use the least square method to correct the heading angle. Fourthly, this paper studies the fuzzy control, and mainly discusses theinfluence of the fuzzy control rules on the performance of the fuzzy control system.On the basis of analyzing and comparing various rules on self-adjusting fuzzy control,it puts forward a kind of online interpolation fuzzy control algorithm based on intelligent weight function method, and applies to the vehicle's straight driving control, translational control and speed control. Meanwhile, it uses Matlab to simulate the control process. Finally, a remote monitoring platform is designed based on LabVIEW, which can realize the real-time monitoring of the running parameters of the whole system, the tracking of the running track of the vehicle, and the remote control of the vehicle.Through the comprehensive test of the whole system, the following have be verified:the data acquisition and processing of the sensors; the data communication between the intelligent vehicle and the host computer, and the control algorithm of the travelling control system.