Research And Implementation On Control System Of Multi-legged Robot Platform

With the growing of science and technology,robot more attention by people more and more.Multiple robot fusion theory and technology of the multi-discipline in industrial,medical,construction,transportation,education and other fields have broad application prospects,and therefore has a high research value and significance.This paper adopts brushless dc motor as the foundation,designed based on STM32F4 mobile robot platform.First of all,this article introduces the research background and significance of this topic,more than a brief analysis of the history of the mobile robot,the present situation and development trend both at home and abroad.According to different wheeled robot,analyzes its wheels with the corresponding number of advantages and disadvantages.Then introduce wheeled robots present bottlenecks and future research direction.Then,we will combine this topic more foot of wheeled robot control system is introduced in this paper the basic structure.Before beginning to introduce more robot mechanical structure,and then analyze the function of the robot requires more,including the horizontal plane motion(i.e.,forward,backward,turn left,backward),the vertical direction.In addition also includes tracking,surmounting obstacles,slope movement,etc.After introduction to the structure of control system,ultimately determine the system control of motor speed,and at the same time analysis the whole control system parts.On the system design and components selection.Choose STM32F4 as the system controller,lithium battery for power supply and infrared sensors,ultrasonic sensors and photoelectric encoder,etc.For brushless dc motor and electric cylinder modeling,after on brushless dc motor speed control simulation model.Here is the current and speed double closed loop control.This article USES the classical PID control and fuzzy adaptive control two methods,at the same time will result is analyzed.After completion of the control system hardware design,the hardware circuit consists of STM32 minimum system,voltage conversion circuit,brushless dc motor drive circuit,current detection circuit,over current protection circuit,sensor interface circuit.Finally the control system software design.The software part according to the function of the robot,first introduces the implementation process of brushless dc motor speed control,then can on this basis,realize the foot wheel robot forward,backward,turn left and turn right.Finally will complete the tracking combined sensor,avoiding obstacles,slope surface level,etc.