煤矿井下全方位移动机器人底盘控制系统设计

摘要

为了使全方位运动机器人在复杂的煤矿井下,灵活的实现绕障、越障等功能,提高机器人在不同道路的适应能力和速度响应,设计了一种新型的底盘控制系统,机器人在Mecanum轮底盘移动平台上,采用以Cortex-4为内核的STM32F405处理器,同时利用增量式PID控制算法,限制电机的启动电流、平滑启动转速,实现闭环控制.实验结果证明,所设计的底盘控制系统稳定、可靠,在实际工程应用中,机器人操作简单,运动灵活,性能优良.%Design of an omni-directional mobile robot,which can realize the bypass obstacles and through the barriers in simulated battlefield.In order to improve the ability to adapt and speed response of the robot in different road,robot based on Mecanum wheel chassis platform,used with Cortex-4 core STM32F405 processor,at the same time,using the incremental PID control algorithm,to limit the starting current of the machine and smooth starting speed,to realize closed loop control.The experimental results showed that the design of the chassis control system was stable and reliable.In the actual game,robot operation was simple,flexible movement,excellent performance.