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摘要
深海机器人作为深海复合式水力提升采矿系统中的关键,其行走控制性能的好坏直接关系到深海采矿的成败。深海机器人行走在深海底4000-6000米,环境复杂多变,因此提高深海机器人行走控制的稳态和动态品质,对深海采矿系统的可靠性具有重要的意义。
本文以深海机器人为背景,在深入了解深海机器人行走控制机构和工作原理的基础上,设计了基于ARM嵌入式系统的深海机器人轨迹跟踪系统。在硬件设计中,主控制器采用是32位ARM微处理器S3C2410,并通过光电编码器和数字罗盘分别检测深海机器人行走过程中的速度和方向角,再经过D/A转换器直接控制电液比例阀,从而控制深海机器人的液压驱动系统。深海机器人的液压驱动系统是复杂的非线性高阶系统,无法用精确的数学模型描述其控制规律,因此设计了基于模糊算法的履带速度内环控制器,对左右履带的速度进行精确的调节。而对深海机器人速度和方向角的外环控制则依据人工驾驶经验整定的专家控制规则,对其进行专家控制。深海机器人轨迹跟踪系统是一个实时多任务系统。传统的单任务顺序执行机制不能很好地满足系统的实时要求,且由于程序是一条单线执行下来,如果程序某一处出现问题,则可能影响整个系统的运行,只能靠复位来解决,系统的可靠性不高。因此在设计中采用了开源嵌入式操作系统μC/OS-Ⅱ进行多任务的调度,保证了系统的实时性和可靠性。仿真结果表明,本文所用控制算法对深海机器人的行走控制具有良好的性能。
关键字:深海机器人,行走控制,ARM嵌入式,专家模糊控制系统
ABSTRACT
As the key of deep-sea mining system plex hydraulic hoisting, deep-sea robot’s performance of tracking control decides the deep-sea mining’s ess or not. The deep-sea robot walks in the deep seabed of 4000-6000m, and the environment plex and changeable. Thereby, it has important significance for the reliability of deep-sea mining to improve the quality and dynamic of the deep-sea robot’s tracking control.
With the background of the deep-sea robot, and in the basis of deep understanding of the structure and work principle of deep-sea robot’s tracking control, this paper has designed a trajectory tracking system of deep-sea robot base on ARM embedded system. In the hardware design, the host controller uses the 32-bit ARM microprocessor S3C2410, and measures the speed and direction angle when the deep-sea robot is walking through the optical encoder and pass. Finally, using the D/A converter to control the electro-hydraulic proportional valve directly, and then to control the hydraulic drive system of deep-sea system of deep-sea robot. The hydraulic drive of deep-sea robot is plicated nonlinear multi-step system, so it’s difficult to describe the control theory with accurate mathematics model. Therefore this paper has designed a inner loop controller by fuzzy algorithm to control the speed of the left and right pedrail accura