基于STM32的机器人运动精确控制系统设计

针对机器人运动控制不精确,如实际转向与控制转向有偏差,导致调整麻烦,通常需要传感器(如使用光电编码器)进行反馈控制。若轮子直径不一样,会造成控制量上的累积误差。为了解决该问题,设计了一个基于STM32微控制器的机器人运动精确控制系统,对由于直径不同导致的误差进行标定补偿,实现机器人行走,尤其是转向时角度的精确控制。该设计,以PID为基本控制算法,STM32F4单片机为控制核心,使用其通用定时器的输入捕获功能来采集光电编码器的输出,进而产生受PID算法控制的PWM脉冲,对直流电机的转速进行控制,实现机器人精度高的运动性能控制。

In view of the imprecise motion control of the robot, such as the deviation between the actual steering and the controlsteering, which leads to the adjustment trouble, it usually needs the sensor （such as using photoelectric encoder） to carry on thefeedback control. If the wheel diameter is different, it will cause the cumulative error on the control quantity. In order to solve thisproblem, a precise control system of robot motion based on STM32 microcontroller is designed. The error caused by different diameters is calibrated and compensated to realize the precise control of the robot＇s walking angle, especially when it is steering. This design takes PID as the basic control algorithm and STM32F4 single chip microcomputer as the control core, uses the input and capture function of its universal timer to collect the output of the photoelectric encoder, and then produces the PWM pulse controlled bythe PID algorithm. The speed of DC motor is controlled to realize the motion performance control of robot with high precision.