A novel approach to increase control performance of soccer robot

摘要

This paper is dedicated to improving the control precision of robot movements in small size RoboCup matches. After carefully building and analyzing the dynamic model of DC-motor, we applied cascade control strategy to robot subsystem instead of the widely used single speed-feedback closed-loop control strategy. The outer loop of the cascade system is to regulate speed of the wheel, and the inner loop is to adjust current flowing through the DC-motor. We used A/D converter module of DSP and motor driver chips to implement the cascade strategy. We also demonstrated algorithm and flow chart of DSP software. To verify the effectiveness of cascade control in practice, we tested the step and pulse responses of the control system through MATLAB simulation. The response time is greatly shortened and overshoots are reduced. Cascade control strategy can effectively increase control performance of soccer robot.