基于STM32的变电站巡检机器人运动控制系统设计与实现
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摘要
变电站巡检机器人是移动机器人的一种,是多种传感器信息融合、多种通信方式共同使用、多种智能控制方法共存、能够自主导航和定位、具有广阔应用前景的巡检系统。它能够在无人的情况下,对变电站的高压设备进行实时监测,及时发现电力设备的异常状况,可大幅提高变电站设备状态监测的准确性、实时性以及自动化水平。本文设计了一种变电站巡检机器人运动控制系统,主控芯片采用STM32,嵌入S曲线加减速控制算法,利用差速驱动转向实现对机器人运动状态的改变。论文主要工作及研究成果如下：
1、通过对机器人运动控制工作原理进行分析,利用差速驱动转向实现对机器人运动状态的改变；深入研究加减速控制算法,通过仿真实验表明,S曲线控制算法能够实现机器人速度的平滑调节。
2、对变电站巡检机器人的运动特性进行分析,得出系统运动控制的设计要求；给出系统总体设计方案：选择系统控制芯片、设计系统功能、选择驱动设备和控制器发送脉冲频率与机器人运动速度之间的关系；给出系统的设计平台和设计参数。
3、对系统控制电路硬件总体方案进行了设计,主要包含STM32最小系统模块、PWM驱动电路模块、编码器接口电路模块、串口通信电路模块以及电源电路模块,对各个模块的功能进行分析和具体电路设计。
4、根据系统控制电路的硬件电路设计,对软件功能模块进行划分,给出了系统控制的主流程框图。采用模块化设计的思路,对各个模块进行设计,主要包括系统运动控制功能软件、串口通信软件设计和速度计算软件设计。
5、系统设计完毕后,对系统进行测试。测试围绕系统性能指标进行,主要包括系统功能测试和定位误差的测试,并对各个测试结果进行分析,得出所设计系统满足性能指标的要求。
Substation inspection robot is a mobile robot, an inspection system that has a variety of sensor information fusion, uses alternately a variety of communication methods, allows the coexistence of a variety of intelligent control methods, is capable of autonomous navigation and location, and has broad application prospects. It offers real-time monitoring to substation high voltage equipement to detect the abnormal condition of the electrical equipment, which can greatly improve the accuracy, real-time and the level of automation of the substation equipment condition monitoring. This thesis presents a substation inspection robot motion control system, which uses STM32as main control chip, embeds S-shape surve acceleration and deceleration control algorithm and exploits differential drive to achieve the change of movement condition of the robot. The main research work and research production are as follows:
1. Through the analysis of the motion control principle of the robot, the system uses differential drive to accomplish the changes of the motion condition of the robot; this thesis also study acceleration and deceleration control algorithm, and the simulink results shows that S-shape curve can realize the smooth regulation of the speed of the robot.
2. Through the analysis of the substation inspection robot movement characteristic, the thesis achieves the design requirements; the total design scheme of the systemis given:the choice of the system main control chip、the design of system function、the choice of drive equipment and the relationship between the pulse frequency that the controller transmits and the velocity of the robot movement. The design platform and design parameter of the system is given.
3. The system control circuit hardware general arrangement is designed, consists mainly of the STM32minimal system module, the PWM driving circuit module, interface circuit module of the encoder, serial communication circuit module and the power supply circuit module. The thesis also analyses the function of each module and designs the specific circuit.
4. According to the system control circuit hardware design, every software function module is analysed. The thesis gives the main control flow block diagram, and designs each module, including control system motion control software design, algorithm software design, speed calculation software design and serial communication software design.
5. When the system design is finished, system should be tested. According to the design requirements and desing parameter, the test mainly includes the test of the function of the system and the test of positioning error. Through the analysis of the test results, we can come to that the system meets the relevant design requirements.
1、通过对机器人运动控制工作原理进行分析,利用差速驱动转向实现对机器人运动状态的改变；深入研究加减速控制算法,通过仿真实验表明,S曲线控制算法能够实现机器人速度的平滑调节。
2、对变电站巡检机器人的运动特性进行分析,得出系统运动控制的设计要求；给出系统总体设计方案：选择系统控制芯片、设计系统功能、选择驱动设备和控制器发送脉冲频率与机器人运动速度之间的关系；给出系统的设计平台和设计参数。
3、对系统控制电路硬件总体方案进行了设计,主要包含STM32最小系统模块、PWM驱动电路模块、编码器接口电路模块、串口通信电路模块以及电源电路模块,对各个模块的功能进行分析和具体电路设计。
4、根据系统控制电路的硬件电路设计,对软件功能模块进行划分,给出了系统控制的主流程框图。采用模块化设计的思路,对各个模块进行设计,主要包括系统运动控制功能软件、串口通信软件设计和速度计算软件设计。
5、系统设计完毕后,对系统进行测试。测试围绕系统性能指标进行,主要包括系统功能测试和定位误差的测试,并对各个测试结果进行分析,得出所设计系统满足性能指标的要求。
Substation inspection robot is a mobile robot, an inspection system that has a variety of sensor information fusion, uses alternately a variety of communication methods, allows the coexistence of a variety of intelligent control methods, is capable of autonomous navigation and location, and has broad application prospects. It offers real-time monitoring to substation high voltage equipement to detect the abnormal condition of the electrical equipment, which can greatly improve the accuracy, real-time and the level of automation of the substation equipment condition monitoring. This thesis presents a substation inspection robot motion control system, which uses STM32as main control chip, embeds S-shape surve acceleration and deceleration control algorithm and exploits differential drive to achieve the change of movement condition of the robot. The main research work and research production are as follows:
1. Through the analysis of the motion control principle of the robot, the system uses differential drive to accomplish the changes of the motion condition of the robot; this thesis also study acceleration and deceleration control algorithm, and the simulink results shows that S-shape curve can realize the smooth regulation of the speed of the robot.
2. Through the analysis of the substation inspection robot movement characteristic, the thesis achieves the design requirements; the total design scheme of the systemis given:the choice of the system main control chip、the design of system function、the choice of drive equipment and the relationship between the pulse frequency that the controller transmits and the velocity of the robot movement. The design platform and design parameter of the system is given.
3. The system control circuit hardware general arrangement is designed, consists mainly of the STM32minimal system module, the PWM driving circuit module, interface circuit module of the encoder, serial communication circuit module and the power supply circuit module. The thesis also analyses the function of each module and designs the specific circuit.
4. According to the system control circuit hardware design, every software function module is analysed. The thesis gives the main control flow block diagram, and designs each module, including control system motion control software design, algorithm software design, speed calculation software design and serial communication software design.
5. When the system design is finished, system should be tested. According to the design requirements and desing parameter, the test mainly includes the test of the function of the system and the test of positioning error. Through the analysis of the test results, we can come to that the system meets the relevant design requirements.
引文
[1]Shouyin Lu, Liqiang Feng, Jiwen Dong. Design of control system for substation equipment inspection robot based on embedded Linux. Control and Design Conference, 2008:1709-1712.
[2]杨同杰.基于DSP的直流伺服电机控制器设计与实现.南京：南京理工大学硕士学位论文.2009.
[3]Nilsson. A mobile automation:An application of artifical intelligence technique. In Proc IJCAI,1969.
[4]朱兴龙,王洪光,房立金等.输电线巡检机器人行走动力特性与位姿分析.机械工程学报,2006,42(12)：143-150.
[5]李晓舟,许金凯,于化东.超高压输电线巡线机器人结构设计与运动学仿真.机械工程学报,2009,32(3)：379-380.
[6]董吉文,冯立强,鲁守银.变电站巡检机器人控制系统设计.微计算机信息.2009,25(22)：220-222.
[7]Lihui Zhou, Yongsheng Zhang, Yong Sun. Development and application of equipment inspection robot for smart substations. Automation of Electric Power Systems. 2011,35(19):85-89.
[8]山东电力研究院.变电站设备巡检智能移动机器人.机器人技术与应用,2003,3：36-37.
[9]张朋飞,何克忠,欧阳正柱等.多功能室外智能移动机器人实验平台—THMR-V.机器人,2002,2(24)：97-101.
[10]Jianhua Hu, Wenhe Liao, Rurong Zhou. Research and Comparison for Several Curves of Acceleration and Deceleration in CNC Systems. Journal of Nanjing University of Aeronautics&Astronautics,1999,6(31):706-711.
[11]熊光明,龚建伟,徐亚飞等.轮式移动机器人滑动转向研究综述.机床与液压,2003,6：9-12.
[12]Tiecheng Sun, Ce Liu. Design of PMSM Vector Control System Based on TMS320F2812 DSP. Power Electronics and Motion Control Conference(IPEMC), 2012,2602-2606.
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[14]喻金钱,喻斌STM32F系列ARM Cortex-M3核微控制器开发与应用.北京：清华大学出版社.2007.
[15]陈启军.嵌入式系统及其应用：基于Cortex-M3内核和STM32F103系列微控制器的系统设计与开发.上海：同济大学出版社.2011.
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[17]游雨云,丁志勇.单片机PWM信号控制职能小车的实现方法.技术与市场.2009,12(16)：28-29.
[18]MAXIM. MAX3232 Datasheet
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[20]王晓明.电动机的单片机控制.北京：北京航空航天大学出版社.2004.
[21]王志强.步进电机和交流伺服电机性能综合比较.天津职业院校联合学报.2006,8(5)：14-17.
[22]吴斌,刘宗行,青舟.用C语言实现高效嵌入式编程.传感器世界.2002,8(3)：20-23.
[23]卢杉.基于单片机的差速驱动引导小车运动控制.西安理工大学硕士学位论文.
[24]曹晖.单片的串行数据采集模块设计.湖北三峡职业技术学院学报.2008,1(5)：68-70.
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[27]王伟,张晶涛,柴天佑.PID参数先进整定方法综述.自动化学报.2006,3：347-353.
[28]康华光,陈大钦.电子技术基础(模拟部分).北京：高等教育出版社,2004.
[29]ARM-based 32-bit MCU STM32F101xx and STM32F103xx firmware library User manual,ST Mieroeleetronies.2008.
[30]王英.模拟电子技术基础.成都：西南交通大学出版社,1999.
[31]周惠潮.常用电子元件及典型应用.北京：电子工业出版社.2005.
[32]周润景Cadence高速电路板设计与仿真：原理图与PCB设计(第4版).北京：电子工业出版社.2011.
[33]王健.现代交流伺服系统技术和市场发展综述.伺服控制.2007,1：16-21.
[34]王鹏飞,孙立宁,黄博.地面移动机器人系统的研究现状和关键技术.机械设计.2006,7(23)：1-4.
[35]Zia,M.T,Vurley,A, Duran,O. Application of Labview and cRIO for high precision position of mars rover using DC motors. International Conference on Digital Object Identifier.2011:1-4.
[36]Tunstel E,Maimone M, Trebi-Ollennu. Mars Exploration Rover mobility and robotic arm operational performance. Systems, Man and Cybernetics.2005:1807-1814.
[37]孙书鹰,陈志佳,寇超.新一代嵌入式微处理器STM32F103开发与应用.微计算机应用.2010,12(31)：59-63.
[38]刘同法ARM Cortex-M3内核微控制器快速入门与应用.北京：北京航空航天大学出版社.2009.
[39]王炎,周大威.移动式服务机器人的发展现状及我们的研究.电气传动.2000,4：3-7.
[40]迟瑞楠,胡终须,胡跃明.非完整两轮驱动移动机器人的实验研究.机器人技术与应用.2001,1：36-40.
[41]陈友东,王田苗,魏洪兴.数控系统的直线和S形加减速研究.中国机械工程.2006,,17(15)：1600-1604.
[42]Kaan Erkorkmaz, Yusuf Altintas. High speed CNC system design. Trans ASME J Engng Industry.1994,115:329-336.
[43]闵惠芬,蒋伟.伺服系统在数控中的应用.机械制造与研究.2007,36(2)：10-13.
[44]陈德明.四足仿生机器人运动控制系统的设计与实现.西安：西北工业大学.2007.
[45]徐国华,谭民.移动机器人的发展现状与研究趋势.机器人技术与应用.2001,3：7-14.
[46]王永虹,徐炜,郝立平STM32系列ARM Cortex-M3微控制器原理与实践.北京：北京航空航天大学出版社.2008.
[47]广州周立功单片机发展有限公司ARM Cortex-M3处理器简介.2006.1.
[48]周立功等ARM嵌入式系统软件开发实例.北京：北京航空航天大学出版社.2005.
[49]郭新贵,李从心.S曲线加减速算法研究.机床与液压.2002,5：60-62.
[50]管晓虎,董海鹰.一种交流伺服控制系统的硬件设计研究.测控技术.2009,2(28)：51-54.
[51]勾慧兰,刘光超.基于STM32的最小系统及串口通信的实现.工业控制计算机.2012,9(25)：26-28.
[52]Wijk, H I Christensen. Localization and navigation of a mobile robot using natural point landmarks extracted from data. Robotics and Autonomous Systems.2000,3: 131-142.
[53]高青.山西长治久安变电站巡检机器人的应用研究.西北工业大学硕士学位论文.2012.
[2]杨同杰.基于DSP的直流伺服电机控制器设计与实现.南京：南京理工大学硕士学位论文.2009.
[3]Nilsson. A mobile automation:An application of artifical intelligence technique. In Proc IJCAI,1969.
[4]朱兴龙,王洪光,房立金等.输电线巡检机器人行走动力特性与位姿分析.机械工程学报,2006,42(12)：143-150.
[5]李晓舟,许金凯,于化东.超高压输电线巡线机器人结构设计与运动学仿真.机械工程学报,2009,32(3)：379-380.
[6]董吉文,冯立强,鲁守银.变电站巡检机器人控制系统设计.微计算机信息.2009,25(22)：220-222.
[7]Lihui Zhou, Yongsheng Zhang, Yong Sun. Development and application of equipment inspection robot for smart substations. Automation of Electric Power Systems. 2011,35(19):85-89.
[8]山东电力研究院.变电站设备巡检智能移动机器人.机器人技术与应用,2003,3：36-37.
[9]张朋飞,何克忠,欧阳正柱等.多功能室外智能移动机器人实验平台—THMR-V.机器人,2002,2(24)：97-101.
[10]Jianhua Hu, Wenhe Liao, Rurong Zhou. Research and Comparison for Several Curves of Acceleration and Deceleration in CNC Systems. Journal of Nanjing University of Aeronautics&Astronautics,1999,6(31):706-711.
[11]熊光明,龚建伟,徐亚飞等.轮式移动机器人滑动转向研究综述.机床与液压,2003,6：9-12.
[12]Tiecheng Sun, Ce Liu. Design of PMSM Vector Control System Based on TMS320F2812 DSP. Power Electronics and Motion Control Conference(IPEMC), 2012,2602-2606.
[13]崔凤波.伺服技术的应用和发展趋势.机电设备.2007,4：15-20.
[14]喻金钱,喻斌STM32F系列ARM Cortex-M3核微控制器开发与应用.北京：清华大学出版社.2007.
[15]陈启军.嵌入式系统及其应用：基于Cortex-M3内核和STM32F103系列微控制器的系统设计与开发.上海：同济大学出版社.2011.
[16]STMicroelectronics.STM32 Reference Manual.RM0008.2009.
[17]游雨云,丁志勇.单片机PWM信号控制职能小车的实现方法.技术与市场.2009,12(16)：28-29.
[18]MAXIM. MAX3232 Datasheet
[19]祖莉,王华坤.智能移动机器人运动控制系统及算法的设计.机器人技术与应用.2002,5：39-42.
[20]王晓明.电动机的单片机控制.北京：北京航空航天大学出版社.2004.
[21]王志强.步进电机和交流伺服电机性能综合比较.天津职业院校联合学报.2006,8(5)：14-17.
[22]吴斌,刘宗行,青舟.用C语言实现高效嵌入式编程.传感器世界.2002,8(3)：20-23.
[23]卢杉.基于单片机的差速驱动引导小车运动控制.西安理工大学硕士学位论文.
[24]曹晖.单片的串行数据采集模块设计.湖北三峡职业技术学院学报.2008,1(5)：68-70.
[25]Guoqing Yu, Ying Zhang, YongWei. Research of DSP-based SVPWM vector control system of asynchronous motor. Computer Science and Electronics Engineering.2012: 151-155.
[26]蔡自兴,贺汉根,陈虹.未知环境中移动机器人导航控制理论与方法.北京：科学出版社.2009.7.
[27]王伟,张晶涛,柴天佑.PID参数先进整定方法综述.自动化学报.2006,3：347-353.
[28]康华光,陈大钦.电子技术基础(模拟部分).北京：高等教育出版社,2004.
[29]ARM-based 32-bit MCU STM32F101xx and STM32F103xx firmware library User manual,ST Mieroeleetronies.2008.
[30]王英.模拟电子技术基础.成都：西南交通大学出版社,1999.
[31]周惠潮.常用电子元件及典型应用.北京：电子工业出版社.2005.
[32]周润景Cadence高速电路板设计与仿真：原理图与PCB设计(第4版).北京：电子工业出版社.2011.
[33]王健.现代交流伺服系统技术和市场发展综述.伺服控制.2007,1：16-21.
[34]王鹏飞,孙立宁,黄博.地面移动机器人系统的研究现状和关键技术.机械设计.2006,7(23)：1-4.
[35]Zia,M.T,Vurley,A, Duran,O. Application of Labview and cRIO for high precision position of mars rover using DC motors. International Conference on Digital Object Identifier.2011:1-4.
[36]Tunstel E,Maimone M, Trebi-Ollennu. Mars Exploration Rover mobility and robotic arm operational performance. Systems, Man and Cybernetics.2005:1807-1814.
[37]孙书鹰,陈志佳,寇超.新一代嵌入式微处理器STM32F103开发与应用.微计算机应用.2010,12(31)：59-63.
[38]刘同法ARM Cortex-M3内核微控制器快速入门与应用.北京：北京航空航天大学出版社.2009.
[39]王炎,周大威.移动式服务机器人的发展现状及我们的研究.电气传动.2000,4：3-7.
[40]迟瑞楠,胡终须,胡跃明.非完整两轮驱动移动机器人的实验研究.机器人技术与应用.2001,1：36-40.
[41]陈友东,王田苗,魏洪兴.数控系统的直线和S形加减速研究.中国机械工程.2006,,17(15)：1600-1604.
[42]Kaan Erkorkmaz, Yusuf Altintas. High speed CNC system design. Trans ASME J Engng Industry.1994,115:329-336.
[43]闵惠芬,蒋伟.伺服系统在数控中的应用.机械制造与研究.2007,36(2)：10-13.
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