CN105978410A - Two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation - Google Patents
Two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation Download PDFInfo
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- CN105978410A CN105978410A CN201610026813.7A CN201610026813A CN105978410A CN 105978410 A CN105978410 A CN 105978410A CN 201610026813 A CN201610026813 A CN 201610026813A CN 105978410 A CN105978410 A CN 105978410A
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- direct current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
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Abstract
The invention relates to a two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation. The whole control system comprises a core controller, a motor driving module, a current collecting module and a communication module. The main function of the core controller is to complete the control algorithm of a driving motor, generate a PWM signal to control the work of the system, carry out data communication with a host computer and carry out signal acquisition. The underlying system consists of a FLASH memory, a fast A/D converter, an enhanced CAN module, an event manager, a quadrature encoding circuit interface multi-channel buffer serial port and other peripheral components. The communication module uses SCI serial port communication to realize data exchange between the host computer and an underlying controller DSP. A direct current driver module is used to drive the acceleration characteristic of a current controlled direct current motor to realize double closed-loop speed regulation of the direct current motor and motion control of a two-wheeled robot.
Description
Technical field
The present invention relates to a kind of coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system, belong to coaxial two wheels robot
Movement control technology field.
Background technology
Wheeled robot is to drive wheel to come the robot that band mobile robot moves and works, due to its have from heavy and light,
Carrying is big, mechanism simple, drive with control relative to facilitate, the speed of travel is fast, work efficiency high, thus extensively should
With.Along with the development in science and technology demand to the autonomous intelligence of robot, how to control the mode that wheeled robot needs according to us
Move and action accurately, the i.e. motor control to wheeled robot are highly important links.
Speed Governing System of DC Motor is the various bases carrying out motor control governing system.It has two actuators respectively
Regulation electric current and rotating speed, overcomes single closed-loop KZ-D system with a comprehensive multi-signal of actuator, causes each parameter to influence each other
Etc. shortcoming, having good static characteristic and dynamic characteristic, start-up time is short, overshoot is little and Ability of Resisting Disturbance is strong etc. excellent
Point.But Double Closed-loop DC Speed System has substantial amounts of parameter to need to adjust during design and debugging, uses traditional design
Method workload is big, debugging difficulty, and two-wheeled wheeled robot inherently saturation nonlinearity problem, therefore adds base
Difficulty in the coaxial two wheels robot Design of Motion Control System of Speed Governing System of DC Motor.
Summary of the invention
The present invention is to solve the problems referred to above, it is proposed that a kind of coaxial two wheels robot motor control based on direct current generator double closed loop speed regulation system
Method, native system, as the indispensable part of coaxial two wheels robot, completes to drive the control algolithm of motor to realize, it is achieved direct current
Armature electric current and the double closed loop speed regulation system of rotating speed, thus realize the motor control of coaxial two wheels robot.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system, institute's employing system include core controller,
Motor drive module, current acquisition module and communication module；Core controller is connected with current acquisition module, current acquisition mould
Block is connected with motor drive module, completes the collection of signal；Communication module connects first floor system and the host computer of core controller；
Its first floor system of core controller is by FLASH memory, quick A/D converter, the CAN module of enhancing, event
Manager, orthogonal coding circuit interface machine multichannel buffered serial port form；Core controller completes to drive the control algolithm of motor,
Produce pwm signal to go to control the work of H-bridge circuit motor drive module.
Described communication module uses the first floor system of SCI serial communication transmission core controller and the interaction data of host computer, the end
Layer controller is received and translated into the command packet of host computer；Described Direct Current Governor System direct current generator double closed loop speed regulation system.
Described quick A/D converter carries out detection and gathers motor armature electric current.
Described bottom controller module, capturing and coding device feedback data, after certain Computational Method of Velocity Measurement, rotary speed data is sent to
Host computer.
Described Direct Current Governor System direct current generator double closed loop speed regulation system, i.e. at core controller, host computer passes through der Geschwindigkeitkreis and electric current
Ring double-closed-loop control makes motor be accelerated and realize the rotating speed given according to the electric current that host computer is given.
The described acceleration characteristic driving current module to control direct current generator realizes the speed governing of system.
The invention have the benefit that
(1) a kind of coaxial two wheels robot motion out of control that two-wheeled wheeled robot can be overcome to cause is provided due to saturation nonlinearity
Control system, this system uses the double-closed-loop control of armature of direct current motor electric current and rotating speed to be governing system, has direct current generator and adjusts
The advantages such as speed starting is fast, overshoot is little and Ability of Resisting Disturbance is strong.
(2) bottom controller have employed to drive the drive system of the acceleration characteristic of current-controlled dc motor, can realize double closing
Ring Direct Current Governor System dynamic parameter is adjustable, realizes robotically-driven with this.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the present invention.
Fig. 2 is the control figure of robot movement-control system of the present invention.
Detailed description of the invention
The invention will be described further below in conjunction with the accompanying drawings:
Embodiment
As it is shown in figure 1, at core controller, complete to drive the control algolithm of motor to realize.Host computer passes through SCI serial communication
Module makes motor according to turning that the electric current that host computer is given is accelerated and realizes giving through the double-closed-loop control of bottom controller
Speed；Its bottom controller and carry out data exchange.Current acquisition module gathers armature supply warp after encoded process of motor
The incoming core controller of ADC.Core controller capturing and coding device feedback data, sends rotary speed data through certain Computational Method of Velocity Measurement
To host computer.Core controller produces pwm signal by bottom controller again and goes to control H-bridge circuit motor drive module, from
And control motor speed and electric current.
The electric current of whole control system employing, rotating speed double closed loop speed regulation system structure such as Fig. 2, outer shroud is Acceleration Control ring, and internal ring is PI
Control electric current loop.The speed difference producing to some rotating speed and feedback obtains after intelligent controller control that electric current loop is given will be in electricity
Stream value of feedback compares the difference input as electric current loop actuator, thus constitutes the kinetic control system of coaxial two wheels robot.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as the present invention
Protection domain.
Claims (6)
1. a coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system, it is characterised in that: used is
System includes core controller, motor drive module, current acquisition module and communication module；The bottom system of described core controller
Unite by FLASH memory, quick A/D converter, the CAN module of enhancing, task manager, orthogonal coding electricity
Road interface message processor (IMP) multichannel buffered serial port composition；Core controller completes to drive the control algolithm of motor, produces pwm signal and goes control
H-bridge circuit motor drive module processed works；Described core controller is connected with current acquisition module, described current acquisition module and
Motor is connected, and completes the collection of signal；Described communication module connects first floor system and the host computer of kernel control module.
Coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system the most according to claim 1, its feature
It is: described communication module uses the first floor system of SCI serial communication transmission core controller and the interaction data of host computer, the end
Layer controller is received and translated into the command packet of host computer.
Coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system the most according to claim 1, its feature
It is: quickly A/D converter carries out detection collection to motor armature electric current.
Coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system the most according to claim 1, its feature
It is: utilizing the first floor system of core controller, capturing and coding device feedback data, by rotary speed data after certain Computational Method of Velocity Measurement
It is sent to host computer.
Coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system the most according to claim 1, its feature
It is: host computer makes motor be accelerated according to the electric current that host computer is given and realize by der Geschwindigkeitkreis and electric current loop double-closed-loop control
Given rotating speed.
Coaxial two wheels robot motion control method based on direct current generator double closed loop speed regulation system the most according to claim 1, its feature
It is: realized the speed governing of system by the acceleration characteristic driving current module to control direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610026813.7A CN105978410A (en) | 2016-01-18 | 2016-01-18 | Two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610026813.7A CN105978410A (en) | 2016-01-18 | 2016-01-18 | Two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation |
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| CN105978410A true CN105978410A (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610026813.7A Pending CN105978410A (en) | 2016-01-18 | 2016-01-18 | Two-wheeled robot motion control method based on direct current motor double closed-loop speed regulation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110701428A (en) * | 2019-10-12 | 2020-01-17 | 山东大学 | Built-in current closed-loop motor driver for pipeline detection robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
-
2016
- 2016-01-18 CN CN201610026813.7A patent/CN105978410A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
Non-Patent Citations (1)
| Title |
|---|
| 赵中原: "基于仿人智能控制的两轮轮式机器人运动控制研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110701428A (en) * | 2019-10-12 | 2020-01-17 | 山东大学 | Built-in current closed-loop motor driver for pipeline detection robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160928 |
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| RJ01 | Rejection of invention patent application after publication |