三輪全向移動(dòng)機(jī)器人運(yùn)動(dòng)控制研究.pdf

1、長(zhǎng)沙理工大學(xué)碩士學(xué)位論文三輪全向移動(dòng)機(jī)器人運(yùn)動(dòng)控制研究姓名：謝志誠申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：李益華20100401ABSTRACTRobotsoccer，referringtomultidomainandmulti—disciplinary，isagoodtestbedformulti—agentsystemandartificialintelligencetheorySofar，ithasbeenfocuse

2、dbymanyresearchinstitutesandcolleges，moreandmoreresearchersandscholarspayattentiontoitThisthesispresentstheresearchonmotioncontrolsystemofomnidirectionalmobilerobotswiththreewheelsfortheRoboCup。SMiddleSizeRobotLeagueThet

3、hesis，firstlybuildsthedynamicmodelsofomni—directionalrobots，anddecidestousethecontrolbasedondynamicsmodeltoachievemotioncontrolofSOCCerrobotsbyanalyzingthecharacteristicsofitsmovementInordertoverifythewholecontrolsystema

4、ndthecontrolstrategy，asimulationmodelofmotorcontrolsystemhadbeenfoundedonbaseofBLDCMmathematicalmodelwithMatlab／SimulinkTheresultsofsimulationwereconsistentwiththetheoreticalanalysis，whichprovedthecontrolsystemwasfeasibl

5、eSecondly，somecontrolalgorithmsforomni—directionalmobilerobotswiththreewheelsaredesigned，includingposturestabilizationcontrollerbaseontheinputdecouplingandthetrajectorytrackingcontrollerbaseonLyapunovstabilitytheorySOthe

6、trackingperformanceofsystemhastheglobalstabilityandtheindependenteontrolofbothpositionandorientationforamobilerobotisrealizedSimulationexperimentsvalidatethestabilitiesofallcontrolalgorithms，andtherobustnessandpracticabi

7、lityofallalgorithmsarealsoverifiedFinally，themotioncontrolsystemusedadoubleDSPstructure，andDSPmicroprocessorTMS320LF2407Awithhighadvancedcapacityisusedasthechiefchiptodesignthebottommovementcontrolsystemfromthebasictasks

8、ofRoboCup’Smiddle—leaguesoccerrobotsForhardwarepart，thecontrolsystemofthemicr6processorandBLDCMcontrollermodulararedesignedaccordingtothemodularthoughtForsoftwarepart，thewholemodulesareprogrammedinfoundationofthehardware