激光测距无损检测机器人运动控制研究

为了提高无损检测机器人行走的直线度,针对移动机器人系统,本文研究了激光测距的位置反馈方法,开发了基于微控制器STM32芯片的控制器,完成了边缘传感器信号、光电码盘信号、激光测距信号的接收与处理。设计了系统的软件结构,探讨了移动机器人系统的建模与仿真,详细分析了永磁同步电机的数学模型和移动机器人的运动学模型,在此基础上,以移动机器人的侧移与偏移角度为指标,设计PID控制器的参数,进行PID控制算法的仿真。经过仿真分析,研究扰动对于系统各部分新能的影响,验证了控制算法的合理性与有效性。

Research on Laser ranging lossless motion detection robot control

In order to enhance the robot walking straightness lossless, for the mobile robot system, the method of feedback laser ranging location and controller of micro controller based on STM32 chip have been studied in this paper. The edge sensor signal, photoelectric encoder signal, and laser ranging signal have been Received and processed. Then the software structure of the system has been designed, modeling and simulation of mobile robot has been discussed. On the basis of analysis of kinematics model of permanent magnet synchronous motor mathematical model and on mobile robot, the parameters of the PID controller has been designed and the control algorithm of PID has been simulated. Simulation results show that the disturbance influence on each part of the system of new energy has been weaken by introduce the discrete PID control algorithm, and the control algorithm has the rationality and validity.