一种巡线机器人控制系统的设计与实现  

Design and Implementation of a Kind of Line-tracking Robot Control System

作　　者：韩宁宁[1] 梁青[1] 马海涛[1] 李旺[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《自动化与仪表》2008年第9期39-43,共5页Automation & Instrumentation

摘　　要：该文结合仓储信息管理系统的需求,设计并开发了一种巡线机器人控制系统。采用TMS320F2812型DSP,利用反射式红外传感器感知与地面颜色有较大差别的导引线,采用直流电机PWM驱动。结合模糊控制与PID控制方法,设计并实现了双回路巡线控制系统。其中:内回路采用PID控制器,构成PWM电机调速系统;外回路采用模糊控制器,构成导引线跟踪系统。实验结果表明,该方法能够很好地实现巡线机器人的巡线行走、转弯等功能。In order to meet the need of warehouse information management system,a measurement of design and development for line-tracking robots control system is proposed. The type of TMS320F2812 DSP is used in the control system. The reflection infrared sensor can apperceive the distinctions of guidance lines＇color on the ground,and the PWM direct current electromotor for the motive force. With the fuzzy control and PID arithmetic,a dual-circuit linetracking control system can be achieved by all above. For the dual-circuit,the inner circuit uses PID controller to compose PWM regulating speed system;and the external circuit uses fuzzy controller to compose guidance line tracking system. The actual experiment results show that under the proposed control,line-tracking robot can effectively sashay,swerve and so on.

关 键 词：模糊控制 巡线机器人 DSP 直流电机 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]