Design Of Crawler Robot Motion Control System Based On DSPACE

With the increasing demand for grapes,the planting area of grapes in our country has also increased year by year.Vineyard plant protection equipment is one of the ways of grape spray application.In our country,the vineyards are mostly planted by ridges,and the unevenness of the ridges and the dry and wet conditions of the soil are complicated and varied.So ordinary wheel and leg type Robots can not easily enter this environment.But due to the advantages of wide support area,low grounding pressure and good passability,crawler robots can work into the unstructured environment.The basis and premise of the crawler robot to achieve autonomous driving is that the traveling and steering are precisely controllable.In this paper,the crawler robot adopts dual DC motor drive travel and dual motor differential steering motion.In the aspect of the traveling speed control of the crawler robot,the principle of DC motor drive and the principle of speed measurement are studied firstly.Then the speed and current double closed loop speed control method is used to design the speed PID controller,and the DC motor speed control model based on Simulink is established.And simulate the test of the speed characteristics of the DC motor and the parameter adjustment of the PID.Finally,the control mode of the dual DC motor drive travel is adopted,and the control algorithm model of the dual motor drive travel is established in Simulink,and the robot travel motion control is actually debugged through the dSPACE semi-physical control development platform to ensure the stability of the forward speed and the double synchronization of motor speed.In the aspect of crawler robot steering control,the basic steering control principle of the crawler robot,the steering dynamics during travel and the pivot turning are analyzed.The dynamic characteristic test system of the robot corner measuring component gyroscope is established and the robot corner can be measured.Then the open-loop control experiments of the crawler robot under different road conditions and different loads are designed.And the open-loop steering characteristics of the crawler robot under different road conditions and different loads are studied.Then an angle-angular velocity-speed three closed-loop steering control strategy based on the gyroscope is proposed,and the steering control model of the crawler robot is established.And the robot steering control is actually debugged through the dSPACE real-time control development platform to ensure the steering accuracy is within 0~3 degrees.In the aspect of experimental design and analysis,the crawler robot motion control experimental platform based on dSPACE was constructed.Firstly,the crawler robot travel motion test experiment was designed,and the experimental results show that the robot can realize the basic linear motion and the steering motion.Then the closed-loop steering control experiments under different road conditions(including on-going steering and the pivot turning)and different loads(including on-going steering and the pivot turning)are designed,and the experimental results show that: the crawler robot the maximum error of steering control is 2.64 degree,and this error can meet the requirements of the accuracy of the unmanned autonomous operation of the crawler robot.And the feasibility of the designed motion control strategy,motion control algorithm,and controllers are verified.