基于ESP32的小型轮式足球机器人结构与控制系统设计  

Design of Structure and Control System of Small-sized Wheeled Soccer Robot Based on ESP32

作　　者：李奎[1] 郑胜尧 刘波[1] 王婷婷[1] LI Kui;ZHENG Shengyao;LIU Bo;WANG Tingting(School of Mechanical&Electrical Engineering,Hohai University,Changzhou 213000,China)

机构地区：[1]河海大学机电工程学院,常州213000

出　　处：《自动化与仪表》2025年第2期85-88,155,共5页Automation & Instrumentation

基　　金：江苏省重点研发计划资助项目(BE2020082-1)。

摘　　要：针对足球机器人竞赛中原有小型轮式机器人制作成本较高的问题,设计了一款低成本,用于替代的轮式足球机器人。首先,选用脉塔智能品牌的RMD-L-4005型号电机作为足球机器人的驱动电机以替代原有的进口电机,大大降低了硬件制作成本,以ESP32作为下位主控,设计了一款双路直流无刷电机驱动器,采用SimpleFOC驱动方案以及UDP通信方式实现上位机对机器人运动的远程控制;其次,根据制作完成的PCB控制板尺寸,重新设计了足球机器人的本体结构,完成了整体装配形成样机;最后,对足球机器人下位机的程序和通信协议进行了设计,并对样机的通信和运动控制进行了测试实验。结果表明,电机的运行转速与上位机下发的指令一致,上下位通信正常,并且样机可以实现直线、圆弧等运动,满足预定的轨迹运动,从而可以正常用于足球机器人的竞赛中。Aiming at the problem of high production cost of small-sized wheeled robot for the robot soccer competition,a kind of wheeled soccer robot with low cost was designed to replace the original one.Firstly,RMD-L-4005 type motors were chose for driving robot,which can replace the original imported ones and reduce the hardware cost highly.A dual DC brushless motor driver was designed by using ESP32 as the lower controller.Remote control by upper computer was realized through SimpleFOC driving scheme and UDP communication.Secondly,the structure of robot was newly designed according to the dimension of PCB board,and prototype was formed after assembling all the parts.Finally,software programs and communication protocols were designed and test experiments were performed on the communication and motion control.The results shows that communication can work normally and rotating speed of motor is consistent with the sending command from upper computer,the prototype of robot can satisfy demand of trajectory control such as linear motion and circular motion,so the new robot can by applied in the competition normally.

关 键 词：足球机器人 无刷直流电机 FOC矢量控制 UDP通信 

分 类 号：TH-39[机械工程] TP273[自动化与计算机技术—检测技术与自动化装置]