Dsp-based Mobile Robot Motion Control System

As the actuator of robot system, the motion control system effects the stabilization of the robot evidently. With the advancement of control theories and the development of electronic technologies, the robot system is developed with high speed, high accurateness, open-architecture, and intelligence. For the high speed and high accurate location-control and trajectory tracking, the mobile robot system must rely on advanced motion control theory and fine motion control structure.The most efficient method for motion control is to control motion source, in which the motor is just the most common one. Therefore the control of mobile robots indirectly is often realized by control of the motors. According to the control requests and the kernel components in control system of mobile robot, six schemes are compared in this thesis. And then on the basis of the advantages and the disadvantages of six schemes, the motion control system with DSP (Digital Signal Processing) controller as the kernel chip is chosen. Based on TMS320LF2407 DSP controller, the particular scheme of the motion control robot system, the hardware, the software, and speed algorithm of the control system, are analyzed and designed in details.First at all, the structures and the mostly hard components of this motion control system are designed. The constitution and structures of the whole system are analyzed, and the function and the hardware structures of DSP are presented, and so on. The main content includes: the choice of CPU, motor drive control, serial communication interface circuits, ADC, signal segregate circuits and so on.Secondly, the thesis is also concerned with the design of control software of the system according to the control requirements. This part analyzes the software structures, and then designs each program module that deal with pulse output and veer control, serial communication and verify, A/D transform program, main program, and Flash boot program.Finally, in order to improve the controlling property of the stepping motor, the closed loop control methods of the stepping motor have been discussed. In this part, the rising-and-falling curve of speed and the mathematic model of the stepping motor have been introduced. And then the selection of the parameters of the PID controller and the design of the fuzzy controller are described, then the realizations programs and the simulation experiment of the fuzzy controller are studied in details. The principle of fuzzy-PID controller with parameters self-adjusting is introduced, and the simulations are also presented.