基于多信号融合的竞技机器人控制研究  

Research on Control for Competitive Robots Based on Multi-signal Fusion

作　　者：朱梅[1] 赖日海 罗昭明 樊中奎[1] ZHU Mei;LAI Rihai;LUO Zhaoming;FAN Zhongkui(School of Software Engineering,Jiangxi University of Science and Technology,Nanchang 330013,China;School of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang 330013,China)

机构地区：[1]江西理工大学软件工程学院,江西南昌330013 [2]江西理工大学能源与机械工程学院,江西南昌330013

出　　处：《现代信息科技》2023年第20期22-26,31,共6页Modern Information Technology

基　　金：江西理工大学大学生创新创业训练资助项目(202110407039)。

摘　　要：基于机器人大赛制作竞技机器人的需要,提出一种机器人软/硬件控制方案。该方案以STM32F407IGX开发板作为主控,由M3508无刷电机构成底盘驱动模块、M6020无刷电机构成云台驱动模块。根据机器人各个通信模块的数据传输特点及造价,采用CAN、SPI、IIC及UART等多信号融合组成通信系统。底盘模块设计侧重于移动功能,通过矢量分解公式实现全向移动,通过位置式PID算法闭环控制底盘电机转速;云台模块设计侧重Yaw轴电机和Pitch轴电机的控制及其他模块和主控间的通信,结合IMU姿态解算、Kalman滤波及串级PID算法控制云台电机,通过搭载于云台的图传模块得到第一人称视角控制机器人。Based on the need of making competitive robots in robot competition,a software/hardware control scheme of robot is proposed.In this scheme,STM32F407IGX development board is used as the main control,M3508 brushless motor constitutes the chassis drive module,and M6020 brushless motor constitutes the cradle head drive module.According to the data transmission characteristics and cost of each communication module of the robot,the Controller Area Network(CAN),Serial Peripheral Interface(SPI),Inter-Integrated Circuit(IIC),and Universal Asynchronous Receiver/Transmitter(UART)and other signals fuse together to form a communication system.The chassis module design focuses on mobile function,the omnidirectional movement is realized by vector decomposition formula,and the speed of chassis motor is controlled by position-type PID(Proportion Integral Differential)algorithm in closed loop.The design of cradle head module focuses on the control of Yaw shaft motor and Pitch shaft motor and the communication between other modules and main control.The cradle head motor is controlled by combining IMU attitude calculation,Kalmanfiltering and cascade PID algorithm.The robot is controlled from thefirst person perspective through the picture transmission module attached to the cradle head.

关 键 词：嵌入式算法 STM32F407 通信协议 无刷电机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]