基于电磁导航的高速轮式机器人控制系统的设计与实现

Design and Implementationof High-Speed Wheeled Robot Control System Based on Electromagnetic Navigation

设计并实现了一个以NXP S9KEAZ128单片机为控制核心,基于电磁导航的、微缩型差速转向轮式机器人控制系统。为了满足机器人做高速路径跟踪运动的要求,改进了硬件设计和路径检测算法,并研究了能够有效减少PWM驱动电机系统的电磁干扰(EMI)的方法。提出了一种以方向环为外环,角速度环为内环的串级控制策略来控制差速转向。使用MPU6500陀螺仪检测路径的曲率,并根据曲率和方向偏差调整速度,实现方向和速度的协调控制。实验结果证明,该设计能够使机器人实现高速、稳定地跟踪路径并且与传统方案相比平均速度提高了25%。

Thecontrol system of aminiature differential wheeled robot based on electromagenetic navigation is designed and realized. The NXP S9KEAZ128 MCU is used as the control core of the robot. To meet the requirements ofthe robot’s doing path following motion in a high speed, the design of the hardware and path detection algorithm are improved. Aneffectivemethod to reduce theelectromagnetic interference (EMI) of the PWM drive motor system is studied. To control the difference speed steering, a cascade controlmethod with the direction loop outside the inner angular speed loop is proposed. To realize the coordinating control of the direction and speed, the speed is adjusted according to the error of the direction and the curvature measured by gyroscope MPU6500. The experimental result indicates that this design enables the robot to track the path fast and steadily. Furthermore, the average speed of the robot is increased by 25% compared with the traditional scheme.