Design And Research On Driving Control System For Differential Mobile Robot

In recent years,the progress of robotics has greatly promoted economic development and social productivity,and different types of robots have played a huge role in all walks of life.However,the existing robot control systems were all designed and developed for specific application scenarios,and even required customized dedicated processing chips.Such a robot control system had problems such as long development cycle,low reuse rate,and high hardware cost.To this end,this topic drew on the robot hierarchy paradigm,divided the control system into a driver layer,a control layer and an interaction layer.The driver layer was researched around the dual-motor drive controller,and on this basis,a control layer circuit was constructed to build a complete bottom layer of the robot.Finally have built a complete robot control system.The specific research contents of this paper are as follows:Firstly,according to the technical indicators and functional requirements,the overall framework of software and hardware of the control system was proposed.According to the software and hardware framework,a variety of design schemes were proposed,and reasonable schemes were selected through comparison to realize robot driving,positioning and navigation.Relying on the overall design scheme,the construction of the experimental platform of the mobile robot control system was completed.Secondly,in order to complete the robot driver hardware circuit design,the calculation method of the key component parameters in the driver circuit was optimized.Aiming at the calculation of the bootstrap capacitor capacitance value,the single discharge time of the bootstrap capacitor was analyzed according to the six-step commutation driving method.The driving equivalent circuit was constructed to analyze the energy transfer path of the bootstrap capacitor.And the calculation formula of the bootstrap capacitor was derived according to the principle of energy conservation.Finally,a comparative experiment was designed to verify the feasibility and superiority of the method.Then,the hardware circuit of the dual-motor synchronous driver was designed,and the welding and debugging of the hardware circuit were completed.On the basis of the good operation of the hardware circuit,the single-motor FOC vector control program was written with the help of Motor Control Workbench(MC Workbench).In order to improve the synergy of motor motion,considering the problem that the traditional cross-coupling synchronous control method could not realize differential control,a dual-motor differential cross-coupling control strategy was studied and designed.The control effect of the algorithm was verified by the simulation comparison experiment,and the above-mentioned control algorithm was integrated to complete the relevant software programming.Next,a mobile robot control system was built,and the dual-motor drive controller was used as one of the components of the system.By deriving the kinematic model to analyze the motion control quantity of the mobile robot,based on the odometer and inertial sensor model,the mobile robot’s track reckoning method was obtained.And the magnetic navigation path tracking was realized based on the fuzzy PID control algorithm.Finally,according to the above research,an experimental platform was built.The single-motor drive test experiment,the dual-motor synchronous test experiment,the positioning accuracy test experiment and the path tracking test experiment were carried out on the drive control system.The experimental results show that the drive control system designed in this research meets the basic functional requirements.