| The soccer robots, as a special member of Mobile Robot, had including many high- technology areas, such as Control Theory, Neural Networks, Communications, Computers, Digital Signal Processing, Mechanics of science, and Artificial Life. According to the basic function, the soccer robot system can be divided into vision subsystem, decision-making subsystem, communication subsystem and control subsystem. Among them, control subsystem is the basic platform to the foundation work, and determines the performance of the whole system. The study focuses on the control subsystem of the soccer robots in this paper. The main contents as follows.First, design and research about the BLDCM controller;Second, design and the simulation about Fuzzy-PID controller basic on FIS;Third, design about the hardware of the soccer robot's control subsystem basic on DSP;Finally, design about the software of the soccer robot's control subsystem basic on DSP;In this paper, the robot's control subsystem with some measurement methods is the study object. First of all, the principle of the three-phase Brushless DC Motor (BLDC Motor) is introduced. The BLDCM's control circuit and driver circuit based on TI Company's TMS320F2812 DSP chip are designed. As the result, it makes the effect to the motor control with dual-loop. And then, after different control methods have been compared, we utilize the FIS (Fuzzy Inference System) in MATLAB / Simulink software as a research method, and then design a fuzzy PID controller. The simulation's analysis show that, compared to the traditional controller, this one has a better exercise capacity and control features. In addition, the ultrasonic distance measurement with temperature compensation is designed as the soccer robot's monitoring function. At the end of this paper, the hardware and the software of the soccer robot's monitoring and control subsystem are designed which is based on DSP F2812, it will improved the monitoring and control function of the robot soccer. |
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