MATLAB排爆机器人移动平台控制系统的设计
摘要排爆机器人移动平台是一种能够在二维平面内保持一定的速度行进、转弯，或根据需求实现路线定位的装置。移动平台性能的好坏会直接影响到安装于平台上的各种装置 的工作精度。首先对系统各模块进行模块化分析，然后通过建立平面直角坐标系并研究速度、轨 迹的几何关系来对移动平台进行运动学分析。接着结合运动学参量和力的关系对移动平 台进行动力学分析，得出动力学微分方程，比较两种启动方式的优缺点，给出平台相关 设计参数，运用位置环速度环双环控制，进行系统建模。采用经典频域法校正，得出控 制系统传递函数。最后利用 MATLAB/Simulink 对系统进行仿真。仿真结果表明，校正后 的系统具有良好的响应速度和抗干扰能力。 69390
毕业论文关键词 移动平台 模块分析 运动学 动力学 MATLAB/Simulink
毕 业 设 计 说 明 书 外 文 摘 要
Title The Design of EOD Robot Mobile Platform Control System
Abstract
EOD robot mobile platform is a device which can in certain moving speed go and turn around in a two-dimensional plane, or according to the needs of route to achieve locating. The performance of mobile platform will directly affect the accuracy and efficiency of the devices installed on the platform.
Firstly, each module of the system is analyzed. Then through the establishment of a plane cartesian coordinate system to research the geometric relationship between speed and trajectory for the mobile platform’s kinematics analysis. And then using the relationship between the kinematic parameters and forces to do the dynamics analysis, and to get the kinetic differential equation. The advantages and disadvantages of two start mode are compared, and the design parameters of the platform are given, position loop and speed loop are used for feedback control, and the system model is carried out. The classical frequency domain method is used to get correct transfer function of the control system. Finally, a simulation is made by MATLAB/Simulink, which shows that the regulated system has a quality with good response speed and disturbance rejection.
Keywords Mobile platform Modul analysis Kinematics Dynamics MATLAB/Simulink
目 次
1 绪论1
1.1 课题背景1
1.3 国内外发展趋势4
1.4 本文主要研究内容4
2 系统总体设计5
2.1 引言5
2.2 系统结构构成5
2.3 各模块的分析思路5
2.4 小结6
3 微控制器模块7
3.1 引言7
3.2 嵌入式系统选用7
3.3 小结8
4 机器人避障模块9
4.1 引言9
4.2 避障方式的选择9
4.3 小结10
5 电机驱动模块11
5.1 引言11
5.2 电机控制器核心的选择11
5.3 小结11
6 遥操作模块12