轮式移动机器人开放式控制系统研究
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摘要
传统的机器人系统往往采用封闭式的控制系统结构,这限制了机器人系统的扩展性和灵活性。本文以三轮式(两轮差动驱动)移动机器人为研究对象,提出了一种基于PCI总线的轮式移动机器人开放式控制系统的设计方案,并对控制系统的硬件与软件进行了详细的研究与讨论。
完成的工作主要包括以下内容：
1)对轮式移动机器人进行了运动学建模和运动学分析。
2)提出了系统的总体设计方案,采用通用PC作为上位机,采用以DSP(TMS320F2812)为控制核心的运动控制卡作为下位机,两者之间通过PCI总线进行通信。硬件设计中使用专用接口芯片PCI9052实现PCI总线接口,采用双端口RAM(IDT7025)实现PCI9052和DSP的通信。文中对DSP最小系统、电机驱动接口电路、反馈信号接口电路、光电隔离I/O接口电路、外部扩展存储器、DSP与上位机的通信接口电路和传感器的选用等,都进行了详细的讨论与研究。
3)完成了以DSP(TMS320F2812)为控制核心的运动控制卡的硬件电路设计与制作。
4)研究了机器人的PID控制器的结构、PID控制算法和模糊PID控制器的实现方法并进行了仿真。
5)使用WinDriver开发了运动控制卡的PCI总线驱动程序,完成了轮式移动机器人的非实时控制软件和实时性控制软件的设计并进行了系统调试,达到了预期的设计目标。
The architecture of traditional robot's control system is always closed,so it limits the robot system's scalability and flexibility. In this paper, a three-wheels (two differential drive) mobile robot is studied and an open-architecture control system design based PCI bus of mobile robot is proposed.The hardware and software of the control system is studied and discussed in detail.
Completed work includes the followings:
1)Complete the kinematic modeling and kinematics analysis of wheeled mobile robot.
2)Propose the control system's overall design.The upper computer uses general computer and the lower computer uses motion control card based DSP(TMS320F2812).They communicate through the PCI bus. The PCI Bus Interface design is implemented using the special interface chip(PCI9052).The communication between DSP and PCI9052 is implemented by using a dual-port RAM(IDT7025).The DSP minimum system, motor drive interface circuit, feedback signal interface circuit, opto-isolated I/O interface circuit, external expansion memory communication interface circuit between DSP and host computer,sensor selections,etc. are all studied and discussed in detail.
3) Complete the hardware design and fabrication of the motion control card based DSP(TMS320F2812).
4)For the robot, the structure of PID controller, PID control algorithm and the achieve method of fuzzy PID controller are studied and do the simulation.
5) The motion control card's PCI-bus driver is developed using Windriver. Complete the wheeled mobile robot's non-real-time and real-time control software design and conduct the system's debugging. The design achieves the desired goals.
完成的工作主要包括以下内容：
1)对轮式移动机器人进行了运动学建模和运动学分析。
2)提出了系统的总体设计方案,采用通用PC作为上位机,采用以DSP(TMS320F2812)为控制核心的运动控制卡作为下位机,两者之间通过PCI总线进行通信。硬件设计中使用专用接口芯片PCI9052实现PCI总线接口,采用双端口RAM(IDT7025)实现PCI9052和DSP的通信。文中对DSP最小系统、电机驱动接口电路、反馈信号接口电路、光电隔离I/O接口电路、外部扩展存储器、DSP与上位机的通信接口电路和传感器的选用等,都进行了详细的讨论与研究。
3)完成了以DSP(TMS320F2812)为控制核心的运动控制卡的硬件电路设计与制作。
4)研究了机器人的PID控制器的结构、PID控制算法和模糊PID控制器的实现方法并进行了仿真。
5)使用WinDriver开发了运动控制卡的PCI总线驱动程序,完成了轮式移动机器人的非实时控制软件和实时性控制软件的设计并进行了系统调试,达到了预期的设计目标。
The architecture of traditional robot's control system is always closed,so it limits the robot system's scalability and flexibility. In this paper, a three-wheels (two differential drive) mobile robot is studied and an open-architecture control system design based PCI bus of mobile robot is proposed.The hardware and software of the control system is studied and discussed in detail.
Completed work includes the followings:
1)Complete the kinematic modeling and kinematics analysis of wheeled mobile robot.
2)Propose the control system's overall design.The upper computer uses general computer and the lower computer uses motion control card based DSP(TMS320F2812).They communicate through the PCI bus. The PCI Bus Interface design is implemented using the special interface chip(PCI9052).The communication between DSP and PCI9052 is implemented by using a dual-port RAM(IDT7025).The DSP minimum system, motor drive interface circuit, feedback signal interface circuit, opto-isolated I/O interface circuit, external expansion memory communication interface circuit between DSP and host computer,sensor selections,etc. are all studied and discussed in detail.
3) Complete the hardware design and fabrication of the motion control card based DSP(TMS320F2812).
4)For the robot, the structure of PID controller, PID control algorithm and the achieve method of fuzzy PID controller are studied and do the simulation.
5) The motion control card's PCI-bus driver is developed using Windriver. Complete the wheeled mobile robot's non-real-time and real-time control software design and conduct the system's debugging. The design achieves the desired goals.
引文
[1]章小兵,宋爱国.地面移动机器人研究现状及发展趋势.机器人技术与应用.2005,(2)：19
[2]邱润生,王惠荣.基于PC+运动控制卡的开放式数控系统的研究.宁夏工程技术.2006,5(4)：350
[3]李引魁.轮式移动机器人控制系统设计：[硕士学位论文].西安：西安理工大学,2007
[41周祖德,魏仁选,陈幼平.开放式控制系统的现状、趋势与对策.中国机械工程.1999,(10)：1090～1091
[5]吴宏,蒋仕龙,龚小云等.运动控制器的现状与发展.制造技术与机床.2004,(1)：24-27
[6]张毅,罗元,郑太雄等.移动机器人技术及其应用.北京：电子工业出版社,2007.9：5
[7]邹继荣.基于DSP运动控制卡的研究与开发：[硕士学位论文].南京：南京航空航天大学,2006
[8]习俊梅,廖高华.开放式PC型多轴运动控制系统.机床与液压.2008,36(11)：91～93
[9](美)西格沃特(Siegwart,R.),(美)诺巴克什(Nourbakhsh,I.R.)自主移动机器人导论.西安：西安交通大学出版社,2006.8(2007.12重印)：13-16
[10]庄焕伟,张铁,李杞仪.基于DSP的轮式移动机器人运动控制系统的研究.机电产品开发与创新.2007(1)：11～12
[11]J.L.Martinez,M.Paz,A.Garcia-Cerezo. PATH TRACKING FOR MOBILE ROBOTS WITH A TRAILER. In:15th Triennial World Congress,2002
[12]陈晓鹏,李成荣,李功燕,罗杨宇.基于动力学模型的轮式移动机器人电机控制.机器人.2008,30(4)：326～332
[13]Jianqiang Jia, Weidong Chen, Yugeng Xi. Design and Implementation of an Open Autonomous Mobile Robot System. In:The 2004 IEEE International Conference on Robotics & Automation,2004:1726-1731
[14]李天庆.基于多传感器融合的机器人自主爬楼梯研究：[硕士学位论文].合肥：合肥工业大学,2008
[15]尹勇,李宇.PCI总线设备开发宝典.北京：北京航空航天大学出版社,2005：10～12,50-65,87～92,99～138
[16]任宝华.基于DSP的异步电机变频调速系统设计与算法研究：[硕士学位论文].武汉：武汉理工大学,2007
[17]PCI-8133 3 Channels Encoder Counters and PWM Output Card Manual. ADLink Technology Inc.,1998
[18]OMAR AL-AYASRAH,AYMAN AL-LAWAMA. DSP-Based Two-Synchronized Motors Control System Using External FPGA Design. WSEAS TRANSACTIONS on SYSTEMS and CONTROL,2008,3(4):279～288
[19]Zhou Junwei,Yu Xiaoqing,Wan Wanggen. Design and Realization of 16Channel PCI Voice Card based on TMS320C6211 DSP. In:2006 Digital Signal Processing Creative Design Contest,2006:89～97
[20]石晓艳,祝龙记.基于多传感器的自动寻迹轮式机器人设计.科技信息.2009, (15)：708-709
[21]TMS320F2810,TMS320F2812 Digital Signal Processors Data Manual. Texas Instruments,2003
[22]苏奎峰,吕强,常天庆等TMS320X281x DSP原理及C程序开发.北京：北京航空航天大学出版社,2008：73-199，286～328
[23]TMS320F28xx 和 TMS320F28xxx DSCs的硬件设计指南. Texas Instruments,2008
[24]PCI9052 Data Book. PLX Technology, Inc.,2001
[25]安剑奇,廖力清，温兴清.高速双端口共享存储器IDT7025及其应用.电子工艺技术.2006,27(5)：291～293，296
[26]邹托武.基于DSP的微机继电保护测试仪的研究与设计：[硕士学位论文].武汉：华中科技大学,2006
[27]刘晓磊.基于DSP的全自主移动机器人运动控制系统研究：[硕士学位论文].南京：河海大学,2008
[28]王艳颖,王珍,郭丽环.直流电动机传递函数测定的实验研究.实验技术与管理.2008,25(8)：38~40
[29]刘志友,侯国强,高晓星.模糊PID控制器在伺服系统中的应用.微计算机信息.2008,24(3-2)：193-194,232
[30]黄忠霖,黄京.控制系统MATLAB计算及仿真.北京：国防工业出版社,2009：395～409
[31]杨国云.医用血管支架输送性能测试平台研制：[硕士学位论文].南京：东南大学,2009
[32]夏玮,李朝辉,常春藤等MATLAB控制系统仿真与实例详解.北京：人民邮电出版社,2008.11：262～291,361-373
[33]程武山.智能控制理论、方法与应用.北京：清华大学出版社,2009：23～54
[34]张睿彬.模糊参数自整定PID控制器的设计与仿真研究.中原工学院学报.2007,18(1)：65～67
[35]易宏,代冀阳,王文彦.直流调速系统的模糊自适应PID控制器设计.南昌航空工业学院学报(自然科学版).2006，20 (2)：49-51、56
[36]刘金琨.先进PID控制及其MATLAB仿真.北京：电子工业出版社,2003：72-93
[37]戴勇.数控钻铣床运动控制卡设计及研制：[硕士学位论文].乌鲁木齐：新疆大学,2009
[38]李娟UNIX设备驱动研究及开发工具包的实现：[硕士学位论文].武汉：华中科技大学,2003
[39]周菜.矢量控制永磁同步电机伺服系统的研究：[硕士学位论文].武汉：武汉理工大学,2010
[40]Jang Myung Lee，K. Son, M. C. Lee，J. W. Choi,etc al. Localization of a Mobile Robot Using the Image of a Moving Object. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2003,50(3):612～619
[41]PID调节控制做电机速度控制SUNPLUS,2006
[42]Ching-Chang Wong, Hoi-Yi Wang, Shih-An Li.et al. Fuzzy Controller Designed by GA for Two-wheeled Mobile Robots. International Journal of Fuzzy Systems,2007,9(1):22～30
[43]Soonshin Han,HyungSoo Lim,JangMyung Lee. An Efficient Localization Scheme for a Differential-Driving Mobile Robot Based on RFID System. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2007,54(6):1-8
[44]P. He, M.H. Jin, L. Yang, R. Wei, Y.W. Liu, H.G. Cai, H. Liu, N. Seitz, J. Butterfass, G. Hirzinger. High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand. In:The 2004 IEEE International Conference on Robotics & Automation,2004:3397-3402
[45]Sang-joo Kim,Jin-woo Park,Jang-Myung Lee. Implementation of Tracking and Capturing a Moving Object using a Mobile Robot. International Journal of Control, Automation, and Systems,2005,3(3):444～452
[46]Sooyong Lee,Jae-Bok Song. Mobile Robot Localization Using Optical Flow Sensors. International Journal of Control. Automation, and Systems,2004,2(4):485～493
[47]Ruey-Jing Lian,Bai-Fu Lin. New modifying self-organizing fuzzy controller for robotic motion control. Int J Adv Manuf Technol,2006. (29):1074-1087
[48]Ramesh Thyagarajan. A Motion Control Algorithm for Steering an AGV in an Outdoor Environment:[master thesis]. Cincinnati:University of Cincinnati,2000
[49]Petru Rusu,Emil M. Petriu,Thom E. Whalen,et al. Behavior-Based Neuro-Fuzzy Controller for Mobile Robot Navigation. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2003,52(4):1335～1340
[50]何志军.基于DSP的数控系统运动控制器的设计：[硕士学位论文].哈尔滨：哈尔滨理工大学,2009
[51]陈伯实.电力拖动自动控制系统(第3版).北京：机械工业出版社,2008.3：30～40
[52]JianZhou Quan, Yuhui Wang, ZhouPing Yin. Design and Implement of Synchronizing Dual-Drive Gantry Based on Multi-axes Motion Control Card. In:ICIRA,2008:388～397
[53]ANDERS OREBACK,HENRIK I. CHRISTENSEN. Evaluation of Architectures for Mobile Robotics. Autonomous Robots,2003,14:33～49
[54]Faa-Jeng Lin,Po-Huan Chou. Adaptive Control of Two-Axis Motion Control System Using Interval Type-2 Fuzzy Neural Network.2009,56(1):178～193
[2]邱润生,王惠荣.基于PC+运动控制卡的开放式数控系统的研究.宁夏工程技术.2006,5(4)：350
[3]李引魁.轮式移动机器人控制系统设计：[硕士学位论文].西安：西安理工大学,2007
[41周祖德,魏仁选,陈幼平.开放式控制系统的现状、趋势与对策.中国机械工程.1999,(10)：1090～1091
[5]吴宏,蒋仕龙,龚小云等.运动控制器的现状与发展.制造技术与机床.2004,(1)：24-27
[6]张毅,罗元,郑太雄等.移动机器人技术及其应用.北京：电子工业出版社,2007.9：5
[7]邹继荣.基于DSP运动控制卡的研究与开发：[硕士学位论文].南京：南京航空航天大学,2006
[8]习俊梅,廖高华.开放式PC型多轴运动控制系统.机床与液压.2008,36(11)：91～93
[9](美)西格沃特(Siegwart,R.),(美)诺巴克什(Nourbakhsh,I.R.)自主移动机器人导论.西安：西安交通大学出版社,2006.8(2007.12重印)：13-16
[10]庄焕伟,张铁,李杞仪.基于DSP的轮式移动机器人运动控制系统的研究.机电产品开发与创新.2007(1)：11～12
[11]J.L.Martinez,M.Paz,A.Garcia-Cerezo. PATH TRACKING FOR MOBILE ROBOTS WITH A TRAILER. In:15th Triennial World Congress,2002
[12]陈晓鹏,李成荣,李功燕,罗杨宇.基于动力学模型的轮式移动机器人电机控制.机器人.2008,30(4)：326～332
[13]Jianqiang Jia, Weidong Chen, Yugeng Xi. Design and Implementation of an Open Autonomous Mobile Robot System. In:The 2004 IEEE International Conference on Robotics & Automation,2004:1726-1731
[14]李天庆.基于多传感器融合的机器人自主爬楼梯研究：[硕士学位论文].合肥：合肥工业大学,2008
[15]尹勇,李宇.PCI总线设备开发宝典.北京：北京航空航天大学出版社,2005：10～12,50-65,87～92,99～138
[16]任宝华.基于DSP的异步电机变频调速系统设计与算法研究：[硕士学位论文].武汉：武汉理工大学,2007
[17]PCI-8133 3 Channels Encoder Counters and PWM Output Card Manual. ADLink Technology Inc.,1998
[18]OMAR AL-AYASRAH,AYMAN AL-LAWAMA. DSP-Based Two-Synchronized Motors Control System Using External FPGA Design. WSEAS TRANSACTIONS on SYSTEMS and CONTROL,2008,3(4):279～288
[19]Zhou Junwei,Yu Xiaoqing,Wan Wanggen. Design and Realization of 16Channel PCI Voice Card based on TMS320C6211 DSP. In:2006 Digital Signal Processing Creative Design Contest,2006:89～97
[20]石晓艳,祝龙记.基于多传感器的自动寻迹轮式机器人设计.科技信息.2009, (15)：708-709
[21]TMS320F2810,TMS320F2812 Digital Signal Processors Data Manual. Texas Instruments,2003
[22]苏奎峰,吕强,常天庆等TMS320X281x DSP原理及C程序开发.北京：北京航空航天大学出版社,2008：73-199，286～328
[23]TMS320F28xx 和 TMS320F28xxx DSCs的硬件设计指南. Texas Instruments,2008
[24]PCI9052 Data Book. PLX Technology, Inc.,2001
[25]安剑奇,廖力清，温兴清.高速双端口共享存储器IDT7025及其应用.电子工艺技术.2006,27(5)：291～293，296
[26]邹托武.基于DSP的微机继电保护测试仪的研究与设计：[硕士学位论文].武汉：华中科技大学,2006
[27]刘晓磊.基于DSP的全自主移动机器人运动控制系统研究：[硕士学位论文].南京：河海大学,2008
[28]王艳颖,王珍,郭丽环.直流电动机传递函数测定的实验研究.实验技术与管理.2008,25(8)：38~40
[29]刘志友,侯国强,高晓星.模糊PID控制器在伺服系统中的应用.微计算机信息.2008,24(3-2)：193-194,232
[30]黄忠霖,黄京.控制系统MATLAB计算及仿真.北京：国防工业出版社,2009：395～409
[31]杨国云.医用血管支架输送性能测试平台研制：[硕士学位论文].南京：东南大学,2009
[32]夏玮,李朝辉,常春藤等MATLAB控制系统仿真与实例详解.北京：人民邮电出版社,2008.11：262～291,361-373
[33]程武山.智能控制理论、方法与应用.北京：清华大学出版社,2009：23～54
[34]张睿彬.模糊参数自整定PID控制器的设计与仿真研究.中原工学院学报.2007,18(1)：65～67
[35]易宏,代冀阳,王文彦.直流调速系统的模糊自适应PID控制器设计.南昌航空工业学院学报(自然科学版).2006，20 (2)：49-51、56
[36]刘金琨.先进PID控制及其MATLAB仿真.北京：电子工业出版社,2003：72-93
[37]戴勇.数控钻铣床运动控制卡设计及研制：[硕士学位论文].乌鲁木齐：新疆大学,2009
[38]李娟UNIX设备驱动研究及开发工具包的实现：[硕士学位论文].武汉：华中科技大学,2003
[39]周菜.矢量控制永磁同步电机伺服系统的研究：[硕士学位论文].武汉：武汉理工大学,2010
[40]Jang Myung Lee，K. Son, M. C. Lee，J. W. Choi,etc al. Localization of a Mobile Robot Using the Image of a Moving Object. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2003,50(3):612～619
[41]PID调节控制做电机速度控制SUNPLUS,2006
[42]Ching-Chang Wong, Hoi-Yi Wang, Shih-An Li.et al. Fuzzy Controller Designed by GA for Two-wheeled Mobile Robots. International Journal of Fuzzy Systems,2007,9(1):22～30
[43]Soonshin Han,HyungSoo Lim,JangMyung Lee. An Efficient Localization Scheme for a Differential-Driving Mobile Robot Based on RFID System. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2007,54(6):1-8
[44]P. He, M.H. Jin, L. Yang, R. Wei, Y.W. Liu, H.G. Cai, H. Liu, N. Seitz, J. Butterfass, G. Hirzinger. High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand. In:The 2004 IEEE International Conference on Robotics & Automation,2004:3397-3402
[45]Sang-joo Kim,Jin-woo Park,Jang-Myung Lee. Implementation of Tracking and Capturing a Moving Object using a Mobile Robot. International Journal of Control, Automation, and Systems,2005,3(3):444～452
[46]Sooyong Lee,Jae-Bok Song. Mobile Robot Localization Using Optical Flow Sensors. International Journal of Control. Automation, and Systems,2004,2(4):485～493
[47]Ruey-Jing Lian,Bai-Fu Lin. New modifying self-organizing fuzzy controller for robotic motion control. Int J Adv Manuf Technol,2006. (29):1074-1087
[48]Ramesh Thyagarajan. A Motion Control Algorithm for Steering an AGV in an Outdoor Environment:[master thesis]. Cincinnati:University of Cincinnati,2000
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