基于嵌入式ARM和组合滤波的巡检机器人轮速控制
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摘要
巡检机器人在未来将应用到工业和生活各个领域,轮速控制系统是实现机器人自主巡检的关键环节。针对工程研发过程中遇到的问题和传统控制系统滤波方式的优缺点,设计了三种滤波相融合的机器人轮速控制系统滤波方案,并在STM32F103嵌入式ARM控制器中采用增量式PID控制算法对其进行轮速控制。实验对复合滤波器使用前后进行实物数据采样和图表对比,验证了三种滤波器的组合方案可以使巡检机器人轮速控制精度较滤波前有较大提高,轮速偏差均值提升至0.6 r/min。
Inspection robot will be applied to every field of industry and life in the future. Wheel speed control system is the key link of robot autonomous inspection. In view of the advantages and disadvantages of filtering methods in the traditional wheel speed control system and encountered engineering problems in the process of research and development,the integration of three kinds of filter schemes were used in the robot control system,and the incremental PID control algorithm was used to control the speed in STM32 F103 embedded ARM controller. The real data sampling and comparison were done in the experiment before and after the composite filter used,and the results verified that the combination of the three kinds of filters can be used to make great improvement in the control precision of the inspection robot,and increase average wheel speed deviation to 0. 6 r/min.
Inspection robot will be applied to every field of industry and life in the future. Wheel speed control system is the key link of robot autonomous inspection. In view of the advantages and disadvantages of filtering methods in the traditional wheel speed control system and encountered engineering problems in the process of research and development,the integration of three kinds of filter schemes were used in the robot control system,and the incremental PID control algorithm was used to control the speed in STM32 F103 embedded ARM controller. The real data sampling and comparison were done in the experiment before and after the composite filter used,and the results verified that the combination of the three kinds of filters can be used to make great improvement in the control precision of the inspection robot,and increase average wheel speed deviation to 0. 6 r/min.
引文
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[6]姜杉,冯文浩,杨志永,等.基于模糊PID调节的核磁兼容机器人气动控制技术[J].机器人,2012,34(5):531-538.Jiang Shan,Feng Wenhao,Yang Zhiyong,et al.Pneumatic Control Technology Based on Fuzzy PID for MRI Compatible Robots[J].ROBOT,2012,34(5):531-538.
[7]刘国荣,张扬名.移动机器人轨迹跟踪的模糊PID-P型迭代学习控制[J].电子学报,2013,41(8):1536-1541.Liu Guorong,Zhang Yangming.Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control[J].Acta Electronica Sinica,2013,41(8):1536-1541.
[8]Siangsanoh A,Chunkag V,Phattanasak M,et al.Stability Analysis of Multiple LEDs Dimming Circuits:An Interaction between an LC Input Filter and Two Buck Converters[J].Procedia Computer Science,2016,86(1):417-420.
[9]刘春喜,马伟明,孙驰,等.大容量400Hz逆变器输出LC滤波器设计和低次谐波抑制[J].电工技术学报,2011,26(6):129-136.Liu Chunxi,Ma Weiming,Sun Chi,et al.Design of Output LC Filter and Low Order Harmonics Suppression in High Power 400Hz Inverter[J].Transactions of China Electrotechnical Society,2011,26(6):129-136.
[10]唐冬梅,柳建新,杨振.基于STM32F103RD的数字相干检测系统设计与实现[J].中南大学学报(自然科学版),2014,45(8):2701-2707.Tang Dongmei,Liu Jianxin,Yang Zhen.Design and realization of digital coherent detection system based on STM32F103RD[J].Journal of Central South University(Science and Technology),2014,45(8):2701-2707.
[11]潘宇.基于FPGA和STM32的脉宽频率测量方法[J].实验室研究与探索,2017,36(2):83-86.Pan Yu.Pulse Width Frequency Measurement Method Based on FPGA and STM32[J].Reseach and Exploration in Laboratory,2017,36(2):83-86.
[12]姚栋伟,吴锋,杨志家,等.基于增量式数字PID的汽油机怠速控制研究[J].浙江大学学报(工学版),2010,44(6):1122-1126.Yao Dongwei,Wu Feng,Yang Zhijia,et al.Design of idle speed controller for an SI engine based on incremental digital PID[J].Journal of Zhejiang University(Engineering Science),2010,44(6):1122-1126.