Research On Multi Motor Coordinated Control Debugging Platform Based On Rescue Robot

The performance of robot motion control system directly affects the overall performance and efficiency of the robot.According to the robot motion control of high precision and high stability performance requirements,it aim to design the open,friendly man-machine interface of rescue robot motor coordination control debugging platform,to meet the demand for robot motion control to conduct a comprehensive performance debugging.On the basis of the study of the research status of multi-motor cooperative control platform at home and abroad,the overall design scheme of the PC upper controller is determined.The motor controller uses DSC chip to communicate with PC through CAN bus to meet the real-time,stability and flexibility of multi-node data transmission.The upper computer debugging interface can complete the management tasks such as parameter setting and waveform display,and the control program of the lower machine mainly completes the realization of the control function of the debugging platform.Here it gives a flow chart of the overall program design and expound the key design ideas.Current,speed and position closed-loop control scheme are used in Debugging platform.It are all closed loop controller design process,including the current loop based on PI controller,based on the immunity of the speed loop controller and the position loop controller based on PVT interpolation,and to explore the rule parameter adjustment,the actual effect of performance are presented.Above all the simulation model of the robot in autonomous motion is constructed.Deviation coupling control way,the real-time speed will be around two tracks mutual coupling,respectively,in proportion to the speed of absolute synchronization and synchronization of two kinds of running state,successively change on one side of the motor load,and comparison about synergy under the control of two tracks of synchronous speed,has a good effect.Based on the analysis on the stability of the rescue robot obstacle-navigation,on the basis of combining the obstacle-surmounting action planning and the rule of stability margin as two kinds of methods,synergy and swing arm,implements the unstructured working environment under the autonomous obstacle surmounting of half of the robot.