Research On Cooperative Operation Control System Of Two Mobile Robots

As the country vigorously develops science and technology,and the degree of automation in industrial production continues to deepen,mobile robots have gradually replaced labor and gradually entered all walks of life.Mobile robots have multiple functions such as environment perception,dynamic decision-making,behavior control and command execution.It is the most typical representative of mechatronics application technology.The direction of robots is one of the most active areas in today’s society.With the rapid development of national science and technology,a single mobile robot can no longer meet the needs of certain specific production operations,so the research on the collaborative operation technology of multiple mobile robots has high social value.The subject is based on the engineering background of large-scale container handling,to study the cooperative operation control method and system of dual mobile robots to cooperatively carry an object.First,the internal principle of the DC motor of the mobile robot is analyzed,the common method of DC motor speed detection is studied,the traditional PID control algorithm is selected as the bottom motor control algorithm,and the bottom motor closed-loop control model is established.The speed characteristics and various parameters of the PID controller were adjusted experimentally.At the same time,the kinematics model of the mobile robot was established in the Cartesian coordinate system,and the kinematics analysis was carried out.Secondly,the collaborative mode of multiple mobile robots is analyzed,and the centralized control method is selected.At the same time,the kinematics analysis of a rigid body carried by the dual mobile robots is carried out,and the expressions of the speed functions of the mobile robots in different stages are obtained.The velocity function is simulated and verified in MATLAB,and the kinematics curve of the mobile robot is analyzed and demonstrated,which provides a kinematics basis for the cooperative operation control of dual mobile robots.Then,an STM32-based dual-mobile robot cooperative operation control system experimental platform was established,a displacement-speed double closed-loop control strategy based on the pull-wire displacement sensor was proposed,the specific realization model of speed control was established,and the controller was designed.According to the different relative distance requirements of the two mobile robots in the working environment,the functional relationship between the target control relative distance and the controller coefficient is constructed.At the same time,observe,adjust parameters and compare and analyze related control variables.Finally,using the STM32-based dual mobile robot collaborative operation experimental platform,a dual mobile robot collaborative handling operation test experiment was designed.The motion control accuracy experiment of the cooperative handling operation of dual mobile robots under different loads is studied.The experimental results show that the maximum error of the relative distance between the two mobile robots is 5.5mm,which meets the requirements of the cooperative operation of dual mobile robots.At the same time,it verifies the correctness of the cooperative operation mode,motion control algorithm and controller designed in this paper.