Design And Implementation Of Mobile Robot Hydraulic PTZ System

The PTZ is a complex device carrier that is used for the connection between the device and the support that needs to be shaken or oscillated,not only to stabilize the device,but also to expand the working space of the device.The traditional PTZ is mainly used in the security and surveillance industries,and most of them are fixed PTZ.They have the characteristics of complex structure and small speed regulation range.In the field of robotics,both the control of external mechanical arms and the servo control of robots are required.A fast-responding,high-precision carrier.Therefore,it is of great significance and application value to study the servo control PTZ suitable for mobile robots.This paper studies a two-degree-of-freedom hydraulic PTZ based on DSP control drive for mobile robots.The main contents include:Modeling and analyzing of hydraulic PTZ,D-H method is used to establish the D-H coordinate system of the PTZ;kinematics analysis of the PTZ is solved by geometric method,and obtaining the coordinates of the working center of the PTZ;the Monte Carlo method is used to analyze the working space of the PTZ and optimize the parameters design.According to the functional requirements of the servo PTZ,the main technical indicators of the PTZ are determined.The hydraulic PTZ controller with DSP-TMS320F28335 chip as the core control device is developed,and the device selection and circuit design of the hardware circuit of the PTZ controller are carried out.It is proposed to use small hydraulic pump drive,gear transmission,absolute encoder to obtain position feedback information and use DSP to control the hydraulic actuation.The hydraulic actuator is modeled and analyzed,and the difference between the hydraulic PTZ and the motor PTZ is compared,put forward the"position-speed-position"hydraulic PTZ three-loop control method.The traditional PID control algorithm and the Kalman filter segmentation PID control algorithm are used in the control of the PTZ.Through the physical experiment,the validity of the position-speed-position three-loop control is verified,and the Kalman filter is also indicated.The segment PID control algorithm has high control precision and strong adaptive ability compared with other algorithms,and can better meet the requirements of hydraulic PTZ motion control.