摘要移动机器人是一种典型的、研究非常广泛的机器人，Robomasters是国内著名的移动机器人赛事，比赛主要内容为多种移动机器人配合无人机进行战术对抗。文章介绍了一种基于Robomasters比赛所需的坦克机器人的嵌入式控制系统的设计。机器人通过一种摩擦轮发射机构发射子弹，发射机构搭载在云台机构上，系统通过麦克纳姆轮进行移动。控制系基于STM32F405芯片设计，并介绍了相应的控制算法和整体的控制结构以及与模式识别系统的通信接口。系统整体控制结构分为四层，此外各个模块包括麦克纳姆轮底盘的控制算法，云台随动系统的控制算法，发射系统的控制等，并且应用模糊控制算法改进麦克纳姆轮的控制。最终整个机器人系统实现了随动，发射，麦克纳姆轮全向移动等功能，复合预期要求。47534

关键词  麦克纳姆轮  PID控制  STM32F405   随动

毕业论文设计说明书外文摘要

Title         A embedded control system design   of a tank for Robomasters Competition                           

Abstract

The research of mobile robot is a typical, very extensively studied research of robots,Robomasters is the leading mobile robot competitions, the main content of the game is for a variety of mobile robots with the UAV tactical confrontation.This paper introduces the design of embedded control systems for a tank robot based on this game. The firing mechanism is achieved by means of the friction wheels,and it is mounted on the head mechanism, the movement of the whole system is through Mecanum wheels. The control system is based on STM32F405, including the corresponding control algorithms and overall control structures as well as the communication interface with the pattern recognition system. The system overall control structure is pided into four layers. In addition, the modules includes a control algorithm Mecanum wheel chassis, head servo system control algorithm, emission control systems, etc., and the application of fuzzy control algorithm is applied to improve the control Mecanum wheel. Eventually the desired functions, firing mechanism, servo Chasis, omniderectional wheel movement are achieved and the robot shows a good perfomance.

Keywords  Mecanum wheel,  PID control , STM32F405 , servo system

目   次

1. 绪论 1

1.1. 引言 1

1.2. 移动机器人研究现状 1

1.3. 课题来源及意义 2

1.4. 本文的主要研究内容 3

2. 机器人系统介绍 5

2.1. 机器人的机械结构 5

2.2. 机器人的控制系统 8

2.3. 本章小结 15

3. 麦克纳姆轮移动平台控制系统的设计与实现 16

3.1. 麦克纳姆轮移动平台的运动学研究 16

3.2. 麦克纳姆轮移动平台的控制系统 21

3.3. 基于常规PID的控制算法 24

3.4. 基于模糊理论的模糊PID自适应控制算法 33

3.5. 本章小结 41

4. 发射系统控制算法的实现 42