Research On Crawler Robot Climbing Stair Control System

Nowadays,the researches on mobile robots in a relatively flat ground environment achieves a lot.However,the researches on autonomous obstacle control in a typical obstacle environment is not mature enough.In Order to improve the obstruction performance and execution efficiency of mobile robots in military and industrial areas for reconnaissance,rescue,and operation,it is necessary to study the obstacle avoidance capabilities of robots.For the most common and special obstacle such as stairs,this thesis proposes a controlling method for the stairs climbing of a track deformable mobile robot.First of all,for the requirements of climbing stairs,the stair climbing control system of a track deformable mobile robot has been designed overall.The basic structure and working principle of the track defonmable robot have been introduced,and the robot's movement ability has been analyzed.Then the kinematic model has been established to analyze the basic movement and the swing arm movement.In particular,the most important part of the motion control of the track deformable mobile robot is the control of the rotational speed of the motor,so the transfer function of the motor has been determined.Secondly,the stair climbing control strategy of track robot has been designed.When the track robot is in the slope of the stairs,it has relatively high requirements for the dynamic performance of the system,and it is prone to problems such as overshoot and oscillation in the course of its movement so that the traditional PID control effect is difficult to be satisfactory.The fuzzy PID control can improve the performance of the system,but the formulation of the fuzzy rules and membership function in the fuzzy controller depends on a large amount of experimental experience.In view of this,this thesis has adopted a particle swarm optimization fuzzy PID control strategy,using the particle swarm optimization algorithm to optimize the fuzzy membership degree function,followed by the simulation of this algorithm and its validity.Thirdly,the hardware and software of the track robot control system have been overall designed by using the modular design idea.The hardware system includes a main controller module,a system power supply module,a sensOr information acquisition module,a motor drive module,an encoder speed Imeasurement module,and a Wi-Fi wireless communication module.Corresponding software modules have designed software flow charts and written software programs,and have designed the host computer software to complete the task of receiving sensor data and sending motion control instructions.Finally,the prototype of the robot system is built and overall debugging is performed.After that,the basic movement and obstacle movement are tested,and the corresponding test results are recorded.Comparing the experimental results of stairs climbing,the error of the fuzzy PID algorithm is 8cm.The particle swarm optimization fuzzy PID algorithm proposed in this thesis has a small error than fuzzy PID,and within control accuracy of 4cm that meets the design requirements of the system and realizes the demand of the stairs climbing of the track robot.