基于无线电技术的远程遥控机器人多电机协同控制系统设计

Design of Multi motor Collaborative Control System for Remote Control Robot Based on Radio Technology

摘要:

机器人应用范围的扩大,其内部配置电机数量随之增加,运动轴数量、关系更加复杂。为了提高机器人多电机协同控制能力,设计一种基于无线电技术的远程遥控机器人多电机协同控制系统。搭建远程遥控机器人多电机协同控制框架,通过无线电技术硬件设备单元(发射器、接收器、使能状态设备与频率合成设备)、位置传感器单元、速度与加速度传感器单元、处理器单元与协同控制器单元,完成硬件系统的设计。基于无线电技术感知周围信号,获取信号的相关信息,采用滤波算法和相似度计算方法对数据进行预处理,剔除冗余数据,通过模糊控制理论和速度补偿器方法实现机器人多电机的协同控制。实验结果表明,应用设计系统获得的机器人多电机协同控制时延最小值为0.45s,电机转速与额定转速更接近,机器人运行轨迹与期望轨迹一致,充分证实了设计系统应用效果较佳。

Abstract:

The expansion of the application range of robots has led to an increase in the number of internal configured motors and a more complex number and relationship of motion axes. In order to improve the collaborative control ability of multiple motors in robots, a remote control robot multi motor collaborative control system based on wireless technology is designed. Build a multi motor collaborative control framework for remote control robots, and complete the hardware system design through wireless technology hardware equipment units (transmitters, receivers, enabling state devices, and frequency synthesis devices), position sensor units, speed and acceleration sensor units, processor units, and collaborative controller units. Based on wireless technology to perceive surrounding signals and obtain relevant information of the signals, filtering algorithms and similarity calculation methods are used to preprocess the data, eliminate redundant data, and achieve collaborative control of multiple motors of the robot through fuzzy control theory and speed compensator methods. The experimental results show that the minimum delay of multi motor collaborative control for robots obtained by applying the design system is 0.45 seconds, the motor speed is closer to the rated speed, and the robot running trajectory is consistent with the expected trajectory, fully confirming the better application effect of the design system.