摘要
为了使水面救援机器人顺利完成海上救援任务,利用低功耗处理器MSP430设计了机器人载体控制系统。载体控制系统集成了无线通讯模块、电机驱动器、电源管理单元、GPS和电子罗盘等设备。在控制系统设计的基础上,设计了机器人自主定向模糊P+ID控制器,控制器可使机器人在水面风浪、水流干扰的情况下实现航向角闭环跟踪控制。最后,开展了水面救援机器人运动控制实验和自主定向实验,实验结果证明了所设计的控制系统方案可行,模糊P+ID控制器的控制性能优于普通PID。
In order to enable the surface rescue robot to successfully complete the maritime rescue task,a low power processor MSP430 is used to design the control system of water rescue robot.The control system integrates wireless communication module,motor driver,power management unit,GPS,compass and other equipment.On the basis of control system design,a fuzzy P+ID controller for robot autonomous heading is designed.The controller can make the robot realize the course angle closed-loop tracking control under the disturbance of wind wave and water flow.And the motion control experiment and autonomous heading experiment of surface rescue robot are carried out.Experimental results show that the control system is feasible,and the control performance of fuzzy P+ID controller is better than PID.
作者
冯迎宾
张婧
FENG Ying-bin;ZHANG Jing(School of Automation and Electrical Engineering,Sheryang Ligong Universiy,Shenyang 110159,China)
出处
《光电技术应用》
2020年第5期60-65,共6页
Electro-Optic Technology Application
基金
辽宁省自然科学基金指导项目(ZD-2019-0250)
中国博士后科学基金项目(2019M66127)。
关键词
机器人
控制系统
无线通讯
模糊控制
robot
control system
wireless communication
fuzzy control
