Research On Tracked Robot Control System

With the continuous progress of science and technology and the development of industrial intelligence,robots with crawler chassis as mobile devices have become one of the most widely used types of robots in industrial and production life.The performance of the driving motor,as one of the critical devices of tracked robots,is directly related to the tracked robot’s motion effect.In-depth research on the structure and control algorithm of the driving motor is an important part of improving the mobility of tracked robots.The paper mainly focuses on the dual-motor driving control system of tracked robots,and establishes the mathematical model of crawler robot motion and the mathematical model of brushless DC motor.For the dual motor drive control,the fuzzy adaptive control method is introduced to solve the problem of complicated parameter adjustment when using traditional PID control.This control method incorporates human consciousness and experience in a linguistic way in the controller,thus enhancing the adaptability to the controller and reducing the difficulty of parameter adjustment.Based on the vector control system and the fuzzy adaptive PID method,a simulation model of the control system is constructed using Matlab/Simulink,and the control effect is studied in comparison with that of conventional PID.On this basis,the simulation model of the dual-motor drive control system is constructed.The simulation analysis was carried out according to different two-motor drive control strategies,including parallel control,master-slave control and cross-coupling control.According to the simulation results,the characteristics of these three control strategies are analyzed.Finally,the paper selects STM32F407VET6 chip as the main control chip of the dual-motor drive control system,and designs a series of modules including main control circuit,power management circuit,communication circuit,serial debugging circuit,etc.to build a hardware experiment platform for the tracked robot driving control system.The control program is written using Keil5 software,and the CANopen communication principle and its design are given.The HCS-Studio servo commissioning software displays data curves of motor status information and allows setting drive parameters to achieve human-machine interaction.When the system is running,the main control board and the servo driver pass commands to each other to ensure the stable operation of the system.After experiments,it is proved that a crawler robot drive control system designed in this paper meets the requirements of various performance indexes.