CN103309322A - Four-shaft driving control system suitable for mobile robot - Google Patents
Four-shaft driving control system suitable for mobile robot Download PDFInfo
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- CN103309322A CN103309322A CN2013102177815A CN201310217781A CN103309322A CN 103309322 A CN103309322 A CN 103309322A CN 2013102177815 A CN2013102177815 A CN 2013102177815A CN 201310217781 A CN201310217781 A CN 201310217781A CN 103309322 A CN103309322 A CN 103309322A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a four-shaft driving control system suitable for a mobile robot. The four-shaft driving control system comprises a power supply, a central processing unit, a power supply management unit, an H-bridge driving unit, a PWM (pulse-width modulation) wave setting unit, a current measuring unit, a current loop unit, a speed measuring unit, a speed loop unit, a head control unit, a sensor data acquisition unit and the like. The four-shaft driving control system is directly suitable for driving the mobile robot, and can satisfy a dual-shaft walking motor of the robot; the four-shaft driving control system can make the speed exact, exactly control the position, start brake, and pitch the horizontal head motor and the like; and the four-shaft driving control system has acceleration and deceleration performance, and is stable in running and high in reliability.
Description
Technical field
The present invention relates to a kind of driving control system, relate in particular to four driving control systems of a kind of suitable mobile robot.
Background technology
The driving of robot control is main to realize the walking of robot and the motion of head, just allows the robot motion, is specially travelling speed control, run location control, head rotation position control, over-current over-voltage protection etc.Integrated or the robot product development for robot needs corresponding extension set or module, is indispensable as drive control module.The multi-axis motion controller of tradition and main flow generally is divided into kinematic system and driver, and both are independent, seldom integrate.No matter they be control protocol or control mode all not too are fit to the mobile robot; Also have some driving governors, be not to use that to be inconvenient to be exactly too expensive.And these factors cause the research and development designers of a lot of robots, fan and student to hang back, therefore a specialty is provided, directly is fit to the mobile robot, and can accurately control, reliable driving control system is very significant.
Summary of the invention
For addressing the above problem, the invention provides four driving control systems of a kind of suitable mobile robot, comprise power supply, CPU (central processing unit), Power Management Unit, also comprise:
H bridge driver element: with the PWM ripple unit is set and is connected, contain H bridge driving circuit, be used for driving at least four motors;
The PWM ripple arranges the unit: be connected with CPU (central processing unit) with electric current loop unit, speed ring unit, head control module, H bridge driver element, utilize the comparer of single-chip microcomputer to produce the PWM ripple;
Sensor data acquisition unit: be connected with CPU (central processing unit) with current measuring unit, velocity survey unit, head control module, be used for collection, filtering and shaping to data;
Head control module: with CPU (central processing unit), PWM ripple unit, sensor data acquisition unit and electric current loop unit are set and are connected, realize that head makes zero, the head rotation angle is controlled, gambling rotation protection function;
Current measuring unit: be connected with the electric current loop unit with the sensor data acquisition unit, test current electric current, be used for that H bridge driver element voltage signal is converted to current signal and measure current electric current;
Electric current loop unit: with current measuring unit, PWM the unit is set and is connected with CPU (central processing unit), be used for regulating current electric current and be tending towards given electric current;
Velocity survey unit: be connected with the speed ring unit with the sensor data acquisition unit, be used for measuring present speed;
The speed ring unit: with velocity survey unit, PWM ripple the unit is set and is connected with CPU (central processing unit), function is tending towards given speed for regulating present speed.
The present invention directly is fit to mobile robot's driving, satisfies robot diaxon movable motor; Can precise speed, position control accurately, start braking, pitching horizontal head motor etc., and have acceleration and deceleration characteristic, operation smoothly, the reliability height.
Description of drawings
Fig. 1 is hardware components circuit module connection diagram of the present invention.
Fig. 2 is the voltage comparator circuit of hardware components of the present invention and the circuit diagram of current sampling circuit.
Fig. 3 is system function module connection diagram of the present invention.
Embodiment
At first the hardware circuit to native system is elaborated.
As shown in Figure 1, the hardware circuit of native system comprises power module, current foldback circuit module, power-switching circuit module, communication circuit module, central processing module, H bridge drive circuit module, head limit circuit module, coding shaping circuit module; Wherein central processing module is connected with communication circuit module, H bridge drive circuit module, coding shaping circuit module.
Structure and function thereof to each module is elaborated below.
Power module: for whole device provides power supply.Input as current foldback circuit.
Central processing module: be single-chip microcomputer and peripheral circuit thereof, single-chip microcomputer adopts 64 ATmaga128 chip.This module major function is the upper strata decision-making, and system's hour hands are provided, and the AVR492 kernel is adopted in design, and employing focuses on, and under unified sequential, adopts asynchronous message response and Message Processing, preferential important instruction certainly.
The current foldback circuit module: if supply voltage is excessive or short circuit phenomenon appears in inside, with regard to the physical connection of disconnecting circuit, what adopt is fuse, prevent the cell voltage paradoxical discharge, positive and negative connect anti-, the motor gambling is changeed etc.The output of current foldback circuit connects the input end of power-switching circuit.It will be appreciated, of course, that in safety practice this module is omissible enough under the good situation.
The power-switching circuit module: function adopts three end line voltage stabilizing chip LM78M05 of Toshiba for to transfer supply voltage to ripple very little linear voltage 5V.Here it may be noted that 2 points: the one, battery is when electric weight is not enough, and its voltage fluctuation is bigger, if adopt the Switching Power Supply conversion chip can cause the voltage of chip local overshoot voltage to occur, may cause the chip cisco unity malfunction; The 2nd, because the voltage of battery is 16.4V, output pressure reduction is about 12V, can produce very big hear rate at LM78M05 like this, cause transformation efficiency to descend, therefore play the effect of dividing potential drop at small resistor of LM78M05 input end string (in the present embodiment being 10 ohm), decoupling capacitor of output termination, and lean on enough closely with VCC, so that very little with the ground level impedance.The output of power supply conversion circuit module is as the input end of telecommunication circuit.Need to prove, arranging under the situation of overcurrent protection module that the power-switching circuit module is connected with power module by it, otherwise directly is connected with power module.
Communication circuit module: adopt RS232 to communicate by letter with single-chip microcomputer and host computer, for anti-interference, long distance and directly convenient and host computer contact, adopt the RS232 level, because CMU is Transistor-Transistor Logic level, so adopt the MAX232 level transferring chip, adopt three-wire system communication.Cause overshoot voltage in order phenomenon such as to guarantee in wrong plug, crosstalk, float, therefore be connected to current-limiting resistance and TVS diode.Even it will be appreciated, of course, that to have lacked communication circuit module, the present invention also reaches the purpose of drive motor, so be not that this module must be set in some cases.
H bridge drive circuit module: comprise 3 L298 and drive chip, wherein first drive chip, the second driving chip for the control movable motor, each chip respectively is connected to a voltage comparator circuit, and each voltage comparator circuit connects a current sampling circuit; The 3rd drives chip is used for control head motor, and this chip has connect two voltage comparator circuits, and each voltage comparator circuit connects a current sampling circuit.Need to prove that this circuit module also can not use said chip, and adopts the H bridge driving circuit of oneself building, as long as can reach the purpose that drive motor runs well.
First connected mode that drives chip and the second driving chip and its affiliated voltage comparator circuit is: the positive input of voltage comparator circuit is connected to described first and drives the 2nd port and the 19th port that chip or second drives chip, the reverse input end of described voltage comparator circuit connects the tap of a variable potentiometer, one end of described variable potentiometer connects VCC, other end ground connection; The output terminal of described voltage comparator circuit is connected to central processing module.The output terminal of voltage comparator circuit is connected to single-chip microcomputer.
The 3rd drive chip with its under the connected mode of voltage comparator circuit is: the 2nd port, the 19th port of the 3rd driving chip respectively be connected a voltage comparator circuit positive input, the reverse input end of described voltage comparator circuit connects the tap of a variable potentiometer, one end of described variable potentiometer connects VCC, other end ground connection; The output terminal of described voltage comparator circuit is connected to central processing module.
Above-mentioned each voltage comparator circuit connects a current sampling circuit, and connected mode as shown in Figure 2.Affiliated sample circuit is configured to: the positive input of a termination voltage comparator circuit of sampling resistor, and an end connects the earth terminal of variable potentiometer, and in parallel with sampling resistor is RC low-pass filter (wherein, resistance is 1k ohm, and electric capacity is 1nf).The output of current sampling circuit all is connected to the ADC end of single-chip microcomputer, utilizes the difference AD input of single-chip microcomputer can suppress common-mode noise here, and connects a little electric capacity in the two ends input and play the decoupling zero effect.Need to prove that the sampling resistor in the current sampling circuit that the voltage comparator circuit under the described first driving chip and the second driving chip is connected is 0.5 ohm; Sampling resistor in the current sampling circuit that voltage comparator circuit under described the 3rd driving chip connects is 1 ohm.
Head limit circuit module: because the head extreme position is generally the structural limits position, therefore must in time handle spacing information, spacing information adopts the probe touch sensor, triggers to be low level.
Coding shaping circuit module: code device signal need add pull-up resistor and incorporate shunt capacitance into by the output of OC door, insert the external interrupt of single-chip microcomputer.Need to prove that because scrambler adopts the NPN open collector, the electric current that therefore flows through pull-up resistor can not be greatly, so the pull-up resistor resistance can not be too big, and that pull-up resistor can not select is too little, can cause having fooled increase like this, and present embodiment pull-up resistor resistance is 1K ohm.For the decoupling capacitor of scrambler and spacing signal input part, its value can not be too big, not so can play the effect of filtering to normal signal in addition, and the present embodiment decoupling capacitor is 1nf.
Above-mentioned is exactly the circuit introduction of hardware components of the present invention, realizes because this system is the combination of software and hardware, can come more detailed explanation in conjunction with system function module connection diagram shown in Figure 3 below.
1. CPU (central processing unit): corresponding to the single-chip microcomputer in the hardware and peripheral circuit thereof.
2. current foldback circuit unit: corresponding to the current foldback circuit in the hardware.
3. Power Management Unit: corresponding to the power-switching circuit module in the hardware.
4. communication unit: corresponding to the communication circuit module in the hardware.
5. protocol analysis unit: be connected with CPU (central processing unit) with communication unit, function is for passing through UART(Universal Asynchronous Receiver/ Trans mitter, universal asynchronous reception/dispensing device) accepts interruption, set up a buffer circle array, receiving data frames is if receive legal Frame then carry out.Instruction is according to priority and receive priority, if the command protocols transmitting time cycle is shorter, the instruction that does not have enough time to carry out then is retained in the interior formation of buffer zone formation and waits for.If be finished, the current agreement buffer zone of zero clearing then.
6. sensor data acquisition unit: sensor of the present invention mainly refers to the simulating signal sample circuit of sampling resistor, four motor encoder Transistor-Transistor Logic level signals, the limit signal of head motor.Sampling resistor is primarily aimed at current measurement, and electric current need become voltage signal by sampling resistor, utilizes the difference AD input of single-chip microcomputer can suppress common-mode noise here, and connects a little electric capacity in the two ends input and play the decoupling zero effect; Code device signal need add pull-up resistor and incorporate shunt capacitance into by the output of OC door, insert the external interrupt of single-chip microcomputer; Limit sensors is that self-designed selection contact is spacing for Transistor-Transistor Logic level.
7. current measuring unit: be connected with the electric current loop unit with the sensor data acquisition unit, by measuring the aanalogvoltage of sampling resistor, calculate current value by Ohm law, give electric current loop as input.Here need should be mentioned that the temperature rising resistance along with sampling resistor has subtle change, need repeatedly metrophia compensation.
8. electric current loop unit: with current measuring unit, PWM the unit is set and is connected with CPU (central processing unit).Electric current loop act as the given electric current of current current following, also can play the electric current judgement and play overcurrent protection, so also cry electric current by negative feedback.The deviation of the given electric current of the actual current that obtains by current measuring unit and speed ring output is as output, regulates by increment type PI and realizes current following, and regulating cycle equals the electric current update cycle.
9. velocity survey unit: be connected with the speed ring unit with the sensor data acquisition unit, by the signal that scrambler returns, open timer and measure speed.Velocity survey is divided into " M " and " T " method, adopts the M method according to reality, at first by external interrupt count pulse number, opens the timer set time then to calculate speed.The M method is actually a kind of average measurement method, can not in time reflect variation, but can reflect trend, and reasonable for the mcu resource expense
10. speed ring unit: with velocity survey unit, PWM ripple the unit is set and is connected with CPU (central processing unit).The deviation of the given electric current of the actual current that obtains by current measuring unit and speed ring output is as output, under the situation of cell voltage fluctuation, the coarse difference in road surface, climb and fall, this is that present speed will change, and speed ring is regulated by increment type PI the several all after dates of speed are tightly followed given speed this moment.The combination of speed ring and electric current loop can allow robot have and start fast and braking characteristic
11. acceleration and deceleration control unit: with the PWM ripple unit is set with CPU (central processing unit) and is connected, when given speed change or speed commutation, when particularly velocity variations is excessive, the one, make robot produce vibration in order to prevent unexpected acceleration; The 2nd, allow motion experience more near naturalization.In conjunction with two closed-loop controls, when deviation is big, because overshoot will produce very big momentary current, may cause overcurrent like this, therefore can enable acceleration and deceleration and be arranged to be smoothly transitted into stable state this moment.Open timer, realize trapezoidal acceleration and deceleration.
12. head motor control unit: with CPU (central processing unit), PWM ripple unit, sensor data acquisition unit and electric current loop unit are set and are connected, the major control two-freedom degree electric machine is the basic act of pitching and horizontal motor, mainly contain 3 points: the one, forward corresponding position to according to instruction, be head position control, if for making zero agreement then forward an end of extreme position earlier to and then get back to the centre position; The 2nd, when forwarding extreme position to, need stop at once and return and report agreement; The 3rd, call electric current loop, after limit sensors damaged, head will forward extreme position to and be in stall, just needs the head current protection this moment, prevented that bump from damaging or burning out plank.
The unit 13. automatically reset: be connected with CPU (central processing unit), for program fleet occurring when single-chip microcomputer or when crashing, produce reset signal by house dog, and the IO mouth of AVR single-chip microcomputer is the input high resistant when resetting, therefore can't be influential to the front and back utmost point, played like this and avoided flying and crashing and break down problem because run
14.PWM ripple arranges the unit: be connected with CPU (central processing unit) with electric current loop unit, speed ring unit, head control module, H bridge driver element, can produce the PWM ripple of certain frequency, the CTC(comparison match zero clearing pattern of the quick PWM ripple of the comparer by single-chip microcomputer inside) mode is by changing the PWM ripple that its register just can produce certain dutycycle.
15.H bridge driver element: the driving circuit corresponding to H bridge drive circuit module in the hardware circuit, with the PWM ripple unit is set and is connected, produce inversion direct current voltage direct current generator is driven,
In the practice, the course of work when native system is applied to the mobile robot is as follows: at first, power on for this system by power port, if connect anti-or the not enough power light of voltage will can be not bright, be connected with host computer by communication port.After waiting to power on, bright as the program pilot lamp of the normal then indicator unit of fruit chip and program initialization, and by communication unit self check information is issued host computer.Then, system communication locations is in the wait protocol status, if receive agreement, then by protocol analysis unit resolves agreement, does not empty data buffer continuation wait if conform to rule; If legal, then judge its command number.If movable motor, then at first reading speed and acceleration and deceleration time, speed then arranges the unit by the PWM ripple and realizes, the acceleration and deceleration time then produces trapezoidal speed by acceleration and deceleration control unit.If occur ground friction variation, climb and fall, barrier or load variations in the operational process, at this moment can pass through speed ring, electric current loop keeping the stable of speed, if stall, and for some time will current protection.If head motor, then judge it is pitching motor or horizontal motor, draw by the protocol analysis unit then and usual rotate or make zero, if usual the rotation then passed through counting unit count pulse number with the control rotational angle, start the head control module simultaneously, simultaneously external interrupt judges whether the trigger electrode extreme position, if trigger then stop at extreme position, then operation.The behavior if level makes zero, then by the PWM ripple unit horizontal control head motor being set clockwise rotates, whether trigger the right spacing (if pitching motor will be lower limit) by limit sensors acquisition process unit judges again, if not then continue operation, if trigger then control module changes certain angle (if pitching motor then upwards rotate) counterclockwise, it namely is the centre position.Empty the protocol data buffer zone at last, wait for agreement by communication unit.Certainly in the control operational process, the unit that automatically resets is the message interruption status always, in case trigger then execution.
The present invention integrates the control circuit in the conventional art and driving circuit, and better from aspect effects such as heat radiation, electromagnetic compatibilities; Adopt sampling resistor and voltage comparator for overcurrent protection, handle simple effective in real time than traditional AD signal single-chip microcomputer.
Feed back according to test and product operation, its effect compare with associated drives controller in the industry be mainly reflected in following some:
1. specialty directly is fit to mobile robot's driving, wide power power supply, communication protocol be simple and easy to, simple to operate etc.
2. practical, satisfy robot diaxon movable motor precise speed control, Accurate Position Control, startup braking control, the control of pitching horizontal head motor position accurately, make zero accurately.
3. real-time, can corresponding actions within the 5ms take place after the agreement, the cycle of recurring is less than 10ms.
4. velocity control accuracy is higher, speed adjustable range is wideer, has to start preferably and braking characteristic.
5. have acceleration and deceleration characteristic, operation can be level and smooth.
6. safety, program fleet or crash and can restart automatically.
7. reliable, heat radiation better has reliable overcurrent, overvoltage protection.
8. low in energy consumption, energy changes the rate of rotation height.
9. cost performance height.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. a suitable mobile robot four driving control systems comprise power supply, CPU (central processing unit), Power Management Unit, it is characterized in that, also comprise:
H bridge driver element: with the PWM ripple unit is set and is connected, contain H bridge driving circuit, be used for driving at least four motors;
The PWM ripple arranges the unit: be connected with CPU (central processing unit) with electric current loop unit, speed ring unit, head control module, H bridge driver element, utilize the comparer of single-chip microcomputer to produce the PWM ripple;
Sensor data acquisition unit: be connected with CPU (central processing unit) with current measuring unit, velocity survey unit, head control module, be used for collection, filtering and shaping to data;
Head control module: with CPU (central processing unit), PWM ripple unit, sensor data acquisition unit and electric current loop unit are set and are connected, realize that head makes zero, the head rotation angle is controlled, gambling rotation protection function;
Current measuring unit: be connected with the electric current loop unit with the sensor data acquisition unit, test current electric current, be used for that H bridge driver element voltage signal is converted to current signal and measure current electric current;
Electric current loop unit: with current measuring unit, PWM the unit is set and is connected with CPU (central processing unit), be used for regulating current electric current and be tending towards given electric current;
Velocity survey unit: be connected with the speed ring unit with the sensor data acquisition unit, be used for measuring present speed;
The speed ring unit: with velocity survey unit, PWM ripple the unit is set and is connected with CPU (central processing unit), function is tending towards given speed for regulating present speed.
2. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems, it is characterized in that: also comprise communication unit and protocol analysis unit, described communication unit is connected with protocol analysis unit, CPU (central processing unit), and is connected with host computer by the RS232 port; Described protocol analysis unit is connected with communication unit, CPU (central processing unit), is used for the descending protocol data of host computer are resolved and the judgement behavior, by changeable frequency pulse act of execution.
3. a kind of suitable mobile robot's as claimed in claim 2 four driving control systems, it is characterized in that: also comprise acceleration and deceleration control unit, with the PWM ripple unit is set with CPU (central processing unit) and is connected, be used for realizing trapezoidal acceleration and deceleration according to the acceleration and deceleration time of the descending protocol of host computer.
4. a kind of suitable mobile robot's as claimed in claim 3 four driving control systems is characterized in that: the two closed-loop controls of described acceleration and deceleration control unit employing.
5. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems, it is characterized in that: described electric current loop unit, utilize the deviation of electric current as input, regulate by increment type PI and realize current following, regulating cycle equals the electric current update cycle.
6. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems is characterized in that: described speed ring unit is regulated by increment type PI when present speed changes realization speed is followed.
7. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems is characterized in that: described velocity survey unit is at first by the external interrupt count pulse number of single-chip microcomputer, opens the timer set time then to calculate present speed.
8. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems, it is characterized in that: described head control module calls electric current loop, when the mobile apparatus head part is in stall, carries out the overcurrent protection of head electric current.
9. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems is characterized in that: also comprise the unit that automatically resets, be connected with CPU (central processing unit), for generation of systematic reset signal.
10. a kind of suitable mobile robot's as claimed in claim 1 four driving control systems is characterized in that: also comprise over-current protecting unit, be connected with power supply, Power Management Unit.
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Application publication date: 20130918 |