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