Research And Realization Of Control System For AWID/AWIS High-speed And High-maneuverability Platform

The thesis is partially supported by National High Technology Research and Development Program 863 "Intelligent AWID/AWIS High Speed/High maneuverability Mobile Robot Platform". AWID/AWIS (All Wheels Independent Driving & All Wheels Independent Steering) high-speed and high-maneuverability platform is a new robot platform, this platform can realize all wheels independent driving and steering. By incorporating different driving and steering combinations, AWID/AWIS platform can provide more motion modes, such as lateral movement, pivot turn and other motion modes. The control system of AWID/AWIS platform is the basis of motor control and remote control function.This thesis researches AWID/AWIS high-speed and high-maneuverability platform. The control system of AWID/AWIS platform is designed and realized. ADRC technology is applied to AWID/AWIS platform and achieves better control effect. The main content on the paper is summarized as follows:Firstly, the control system of AWID/AWIS platform is analyzed. The system is divided into remote operating system, planning level and executive level. The functions of all levels are described. The hardware system of the remote operating system and the planning level are designed, and the reliability of wireless communication between the remote operating system and the planning level is tested.Secondly, the functional structure of the software system is analyzed, the command acquisition module, state display module, wireless communication module in remote operating system, CAN communication module, posture measurement module, GPS module, wireless communication module, algorithm module in planning level are completed. The software designs of remote control system, master control system in planning level software are realized. Application situation indicates that master control system in planning level can satisfy real-time control requirements.Finally, on the basis of the kinematic/dynamic model of AWID/AWIS platform. ADRC technology is applied to AWID/AWIS platform. This paper completes the design and parameters adjustment of ADRC controller. The experimental result shows its better performance in vertical speed control and heading control. This provides a new method to solve the high-speed robot platform control problem.