Control System Design Of Fire Fighting Robot Based On DSP

In today's life,in order to reduce the occurrence of fire safety accidents,the use of fire fighting robots instead of firefighters into the scene of the fire has a very important social significance.In this paper,we designed a fire fighting robot control system with DSP as the main control board,completed the hardware platform of the fire fighting robot and software compilation,and verified the core control module of the control system.The main work and innovation are described as follows.The hardware circuit of the main control board is designed with TMS320F28335 as its core,which used to drive the water cannon and walking driven system.The wireless communication system with STM32 as the core completes the sending commands and collecting the feedback information.The collected information includes:temperature,voltage,smoke concentration,and motor speed.At the same time,completed the preparation of the hardware driver.The designed pattern of water cannon can not only complete the control of the up,down,left,right,extension and retraction directions,but also increase the memory and playback functions,avoiding the repetitive work order sending and improving the working effectiveness of the water cannon.The trajectory tracking algorithm controlled by a decentralized neural network which used to realize the control of the water cannon's pendulum.The water cannon was modeled in MATLAB and the trajectory tracking simulation experiment was performed.Compared with the traditional PID control algorithm,the tracking accuracy is higher and the error is smaller.Based on the above design,the dissertation finally carried out the actual test experiments,the experimental results show that the design of fire fighting robot control system can communication stably within 400 meters,and work in accordance with the instructions.Trajectory tracking error is small and high precision.