Please wait a minute...
工程设计学报
工程设计学报  2003, Vol. 10 Issue (4): 174-178    
工程设计理论、方法与技术     
ROBOCUP小型机器人串级控制系统的实现
 周科1, 熊蓉1, 蒋仙华2, 金毅1, 褚健1
Implem entation of cascade control system in small-sized ROBOCUP
 ZHOU  Ke1, XIONG  Rong1, JIANG  Xian-Hua2, JIN  Yi1, CHU  Jian1
1.浙江大学工业控制技术国家重点实验室，浙江杭州 310027;
 2.浙江大学系统工程研究所，浙江杭州 310027
 全文: PDF(204 KB)   HTML
摘要： 机器人足球是集视觉处理技术、无线通讯技术、电机控制技术、智能决策对象等多种技术的综合系统，是当前人工智能和机器人领域的研究热点之一．简要介绍了ROBOCUP小型机器人足球系统框架，对小车子系统的电机控制电路部分引入串级控制，通过DSP芯片及传感元件对电机速度和电机电流实现双闭环控制，提高了机器人速度响应的性能指标．
关键词： 机器人足球;  电机控制;  串级控制;  改进PID算法    
Abstract: Robotic soccer has become an interesting and attractive platform for robotic experim ents and research．The dynam ic response feature of soccer robot is crucial to the overall system ． This paper is dedicated to improving the dynam ic response of robotic movement in small-sized ROBOCUP matches．Instead of the widely used single closed loop control system based on speed feedback，the authors apply cascade control system by introducing current feedback circuit to the single loop control system ．The outer loop is to regulate the speed of the whee1．The inner loop is to adjust the current flowing through DC-motor．the authors utilize this cascade system by DSP and choose the optimized control parameters of two closed loops based on the mathematical model of DC-motor． The step and pulse response of the proposed cascade control system is demonstrated using M ATLAB simulations．The results show that the response tim e can be greatly shortened and overshoots can be reduced．It is clear that cascade control system can improve
the dynam ic response of a soccer robot．
Key words: robotic soccer    motor control    cascade control    modified PID algorithm
出版日期: 2003-08-28
基金资助:

国家“863”计划智能机器人资助项目(2001AA422270)；浙江省自然科学基金重大资助项目(ZD0107)
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
周科
熊蓉
蒋仙华
金毅
褚健

引用本文:

周科, 熊蓉, 蒋仙华, 金毅, 褚健. ROBOCUP小型机器人串级控制系统的实现[J]. 工程设计学报, 2003, 10(4): 174-178.

ZHOU Ke, XIONG Rong, JIANG Xian-Hua, JIN Yi, CHU Jian. Implem entation of cascade control system in small-sized ROBOCUP[J]. Chinese Journal of Engineering Design, 2003, 10(4): 174-178.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/    或    https://www.zjujournals.com/gcsjxb/CN/Y2003/V10/I4/174

[1] 黄卜夫, 熊蓉, 黄琪, 吴明光. 基于视觉足球机器人无线通讯子系统的设计[J]. 工程设计学报, 2002, 9(5): 265-267.