CN105929832A - High-speed picomouse full-digital servo controller with dual-core tri-axial four-wheel variable structure - Google Patents
High-speed picomouse full-digital servo controller with dual-core tri-axial four-wheel variable structure Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention discloses a high-speed picomouse full-digital servo controller with a dual-core tri-axial four-wheel variable structure. The high-speed picomouse full-digital servo controller comprises a picomouse shell, wheels, a first infrared sensor, a second infrared sensor, a third infrared sensor, a fourth infrared sensor, a fifth infrared sensor, a sixth infrared sensor, a first high-speed direct current servomotor, a second high-speed direct current servomotor, a vacuum absorption motor, a first magnetoelectric encoder, a second magnetoelectric encoder, a motion sensor and an acquisition sensor. The high-speed picomouse full-digital servo controller further comprises a control board which adopts a dual-core controller, including an ARM and an FPGA, and the ARM is communicatively connected with the STM32F407. In this way, the stability of the dual-core picomouse full-digital servo system is improved, the ground slippage of a picomouse during exploring a high-speed maze is effectively prevented, the occurrence of the picomouse far from the central position is avoided and the stability of fast obtaining a solution is improved.
Description
Technical field
The present invention relates to a kind of double-core three axle four-wheel Mus (PICOMOUSE) Full Digitized Servo Control System the most slightly, belong to
In minisize maze robot field.
Background technology
Along with microelectric technique, the continuous progress of Computer Control Technology, external expert solves labyrinth micro computer Mus
Propose one on technical foundation and have more challenging maze robot---slightly Mus, its conventional two-dimensional structure such as Fig. 1 institute
Show.Solve the difficulty in labyrinth for enhancing labyrinth complexity and mouse, labyrinth retaining wall is become 90mm by original 180mm,
Original labyrinth is become 32*32 lattice by 16*16 lattice, and new labyrinth two-dimensional structure is as shown in Figure 2.Power supply is once opened, slightly
Mus whole process fully relies on self-contained sensor self-navigation, and solves the various complicated fan being made up of 1024 maze lattices
Palace, it is possible to quickly find an optimal path arriving target setting point from starting point, then makes a spurt terminal with the fastest speed.
Mus slightly, as a kind of novel maze robot technology, has many countries and regions launching this most in the world
The competition of the technology of kind, and there are the different rules of contest, the walking in whole labyrinth of the slight Mus is divided into two parts: explores and rushes
Thorn, the corresponding time spent is exploration time TS and spurt time TD and owing to adding of occurring in violation of rules and regulations penalizes time TP, slightly
Final performance TIME of Mus is determined by TS, TD and TP, and the most representational is Japan, the U.S., Britain and Singapore.
Day this rule is as follows: TIME=TD；
American rule is as follows: TIME=TS/30+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time；
Britain's rule is as follows: TIME=TS/30+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time；
Singapore's rule is as follows: TIME=TS/60+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time.
From international rule above it can be seen that slight Mus solves labyrinth and occupies the heaviest the whole motion of slight Mus
The position wanted, once Mus solves labyrinth failure slightly, and the whole function of slight Mus the most just cannot realize.
Mus slightly to judge the environment of surrounding in labyrinth the moment in walking process, then communicates a parameter to controller, by
Controller repetitive control its accurate acceleration and retarded motion in the grid of labyrinth.One outstanding slight Mus successfully solves labyrinth
Must possess good perception, have good locomotor activity, outstanding intelligent algorithm, otherwise will be unable to task.As
Fruit uses existing simple algorithm and structure to realize slight Mus and solves labyrinth, finds in practice:
(1) owing to solving the substantial increase of labyrinth number, and detection set-point, labyrinth is being not center, original labyrinth, but fan
Any one lattice in palace so that original simple Mus slightly solves maze technique and cannot solve existing complex maze；
(2) being greatly decreased due to slight Mus size, if Mus uses six groups of sensor technologies in Fig. 1 to explore complexity fan slightly
Palace, at some to exploring in the international rule having time requirement, is affected by single core processor processing speed, often occurs exploring
The phenomenon generation that time is longer, ultimately results in slight Mus and competes unsuccessfully；
(3) some simple Mus model machine servosystem slightly use the monokaryon chip than lower level and algorithm so that Mus is fan slightly
Walking in the middle of palace typically will spend the longer time, not only consumes the energy of a large amount of battery, and in real contest
In also cannot win victory；
(4) due to the minimizing of labyrinth retaining wall size so that Mus list table rows slightly walks the distance minimizing run, and slight Mus is solving fan
Frequently braking during palace and startup have increased the weight of the workload of monokaryon controller, and monokaryon servo controller cannot meet slight Mus
The requirement quickly started and stop；
(5) for the slight Mus of two-wheel drive, general two the motor PWM control signals requiring to drive its motion to synchronize,
Limited monokaryon servosystem by computing capability and be difficult to meet this condition, can not accurately be gone when slight Mus travels on straight way
Walk on center line, be easy to bump against labyrinth retaining wall when walking at a high speed, cause mission failure；
(6) owing to being affected by monokaryon controller capacity and algorithm, slight Mus cannot store labyrinth information, when running into power-down conditions
All of information will disappear, and this makes whole heuristic process restart；
(7) Mus slightly is when walking in labyrinth, controls to be susceptible to external interference based on monokaryon, leads owing to compensating the most in time
Cause slight Mus collision labyrinth retaining wall, finally cannot complete task；
(8) move after two-wheeled slight Mus system is when accelerating walking due to center of gravity so that mouse front portion is light, even if on good road
On face, slight Mus also can be skidded, it is possible to causes the phenomenon hitting wall to occur, is unfavorable for the development of Mus the most slightly；
(9) if two-wheeled slight Mus system designs improper inclined before causing center of gravity, the normal pressure born on driving wheel will be caused to reduce,
At this moment Mus system is more prone to skid slightly, is also easier to wander off, causes navigating unsuccessfully；
(10) if two-wheeled slight Mus system design improper cause center of gravity lateral deviation by cause two driving wheels to bear normal pressure not
With, when quickly starting, two-wheeled skid level is inconsistent, and moment deflects away from track, and during turning, the wheel that wherein normal pressure is little can
Can skid, cause cornering difficulties；
(11) speed of mouse and the feedback of position are realized due to traditional slight Mus many employings photoelectric encoder, owing to photoelectricity is compiled
The volume of code device is bigger so that the volume of Mus slightly is relatively large, it is impossible to realize the miniaturization of slight Mus servosystem；
(12) relatively big due to the dust of competition area, particularly labyrinth is after repeatedly match, the dust of absorption on floor, labyrinth
Bigger so that the slight Mus of fast running is easy to skid, and causes labyrinth information errors, final Mus slightly cannot complete to explore and
The task of spurt；
(13) the integrated drive chips volume used due to tradition slight Mus servosystem is relatively big, and the volume of slight Mus cannot be miniature
Change and weight is relatively big, sufficiently large acceleration cannot be obtained under equal-wattage DC servo motor drives, the acceleration of system
Can be more weak；
(14) the slight Mus MPU Controlled All Digital Servo System controlled based on monokaryon should process various photo-sensor signal and labyrinth letter
Breath, but also the multiple-axis servo processing slight Mus controls so that the workload of processor is relatively big, very big have impact on slight Mus
The raising of speed and stability.
Mus solves labyrinth slightly is international emerging a special kind of skill, owing to the difficulty of slight Mus technology is higher and labyrinth sets
The complexity of meter, causes the domestic unit the most not researching and developing this robot.Accordingly, it would be desirable to by existing Advanced Control Techniques with
And Dynamic matrix control chip designs a kind of double-core multiaxis and takes turns anti-skidding slight Mus more and solve the Full-digital servo controller in labyrinth.
Summary of the invention
It is digital that the technical problem that present invention mainly solves is to provide a kind of double-core three axle four-wheel structure changes Mus the most slightly
Servo controller, stability and the requirement of rapidity that slight Mus quickly walks in order to overcome monokaryon controller not meet, give up
The single single-chip microcomputer mode of operation that domestic slight Mus is used, on the premise of absorbing external Dynamic matrix control thought, independently sends out
Understand brand-new double-core control model based on ARM (STM32F405)+FPGA (A3P250), panel with FPGA for process core,
With magnetism encoder as feedback element, realized the Synchronization Control of three axle DC servos by its internal three Close loop servo control,
STM32F405 frees in the middle of complicated work, it is achieved the signal processing algorithm of part and the control logic of FPGA, and rings
Should interrupt, it is achieved data communication and storage live signal.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of double-core three axle four-wheel
Structure changes at a high speed slightly Mus Full-digital servo controller, including slight Mus housing, wheel, the first infrared sensor, second infrared
Sensor, the 3rd infrared sensor, the 4th infrared sensor, the 5th infrared sensor, the 6th infrared sensor, the first high speed are straight
Flow servo motor, the second High-speed DC servomotor, vac sorb motor, the first magnetism encoder, the second magnetism encoder, fortune
Dynamic sensor and collection sensor, four described wheels are arranged on the limit, the left and right sides of slight Mus housing, institute the most two-by-two
The first infrared sensor and the 6th infrared sensor stated are separately positioned on the limit, the left and right sides of slight Mus housing and are positioned at wheel
Front end, the second described infrared sensor and the 5th infrared sensor are arranged on the front end of slight Mus housing, described the 3rd
Infrared sensor is angularly disposed between the first infrared sensor and the second infrared sensor, and the 4th described infrared sensor is oblique
To being arranged between the 5th infrared sensor and the 6th infrared sensor, the first described High-speed DC servomotor and the second height
Speed DC servo motor is separately mounted to the right and left of slight Mus housing the position between two wheels, and described is true
The attached motor of suction is arranged on the centre position above the first High-speed DC servomotor and the second High-speed DC servomotor, described
The first magnetism encoder and the second magnetism encoder be separately positioned on the first High-speed DC servomotor and the second High-speed DC
The lower section of servomotor, described motion sensor and collection sensor are successively set on the lower section of vac sorb motor, also wrap
Including panel, described panel is arranged in slight Mus housing, and described panel uses dual-core controller, including ARM and
FPGA, described ARM with FPGA are communicatively coupled.
In a preferred embodiment of the present invention, when the 3rd described sensor and the 4th sensor are angularly disposed and Y-axis
Between corner dimension be:。
In a preferred embodiment of the present invention, described ARM uses STM32F405 controller, described FPGA to use
A3P250 controller.
In a preferred embodiment of the present invention, the first described magnetism encoder and the second magnetism encoder all use base
Encoder in magnetoelectric transducer AS5040H.
In a preferred embodiment of the present invention, described wheel is provided with vacuum cup.
In a preferred embodiment of the present invention, described double-core three axle four-wheel structure changes Mus full-digital servo the most slightly
Controller also includes supply unit, described supply unit panel electric current driving described in, described control are provided separately
Plate sends the first control signal, the second control signal and the 3rd control signal respectively, by the first described control signal, the second control
Signal processed and the 3rd control signal control respectively described the second High-speed DC servomotor, the first High-speed DC servomotor and
The motion of slight Mus is controlled again after the signal syntheses of vac sorb motor.
In a preferred embodiment of the present invention, described supply unit uses lithium ion battery.
In a preferred embodiment of the present invention, described double-core three axle four-wheel structure changes Mus full-digital servo the most slightly
Controller is additionally provided with host computer procedure and motion control program, and described host computer procedure also includes that labyrinth is found out, labyrinth is deposited
Storage and data export, and described motion control program also includes based on ARM+FPGA tri-axle total digital DC SERVO CONTROL, labyrinth
Location and model selection.
In a preferred embodiment of the present invention, described also wraps based on ARM+FPGA tri-axle total digital DC SERVO CONTROL
Include interconnective four-wheel slight Mus total digital DC SERVO CONTROL and control based on single shaft direct current generator absorption friction service, institute
The four-wheel slight Mus total digital DC SERVO CONTROL stated includes position module, acceleration module and acceleration module.
The invention has the beneficial effects as follows: the double-core three axle four-wheel structure changes of present invention Mus full Digitized Servo Control the most slightly
Device, improves the stability of double-core slight Mus MPU Controlled All Digital Servo System, and vac sorb motor does not stops to take out by vacuum suction apparatus
Inhaling the air in micro vacuum sucker, the external and internal pressure making micro vacuum sucker is different, produces certain negative pressure so that it is to band
The ground, labyrinth having dust produces certain absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skids；
Motion sensor can measure the yaw rate of slight Mus, when slight Mus changes and exceedes setting threshold values solving labyrinth attitude
Time, a new sampling period FPGA controller immediately to its position compensation, it is to avoid slight Mus off-center position far away
The generation of phenomenon, improves stability during its rapid solving.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is two wheel drive slight Mus X-Y scheme；
Fig. 2 is slight Mus 32*32 labyrinth schematic diagram；
Fig. 3 is based on A3906SESTR-T two axle double-core slight Mus MPU Controlled All Digital Servo System connection diagram；
Fig. 4 is double-core three axle four-wheel structure changes slight Mus two dimension schematic diagram；
Fig. 5 is based on STM32F405+A3P250 double-core three axle four-wheel structure changes slight Mus theory diagram；
Fig. 6 is based on STM32F405+A3P250 double-core three axle four-wheel structure changes slight Mus SERVO CONTROL flow chart；
Fig. 7 is slight Mus navigation pattern.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
As shown in Figure 4, the embodiment of the present invention includes:
A kind of double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly, including slight Mus housing, wheel, first
Infrared sensor S1, the second infrared sensor S2, the 3rd infrared sensor S3, the 4th infrared sensor S4, the 5th infrared sensing
Device S5, the 6th infrared sensor S6, the first High-speed DC servomotor Y, the second High-speed DC servomotor X, vac sorb electricity
Machine M, the first magnetism encoder M1, the second magnetism encoder M2, motion sensor G1 and gather sensor L1, four described
Wheel is arranged on the limit, the left and right sides of slight Mus housing, the first described infrared sensor S1 and the 6th infrared sensing the most two-by-two
Device S6 is separately positioned on the limit, the left and right sides of slight Mus housing and is positioned at the front end of wheel, the second described infrared sensor S2 and
5th infrared sensor S5 is arranged on the front end of slight Mus housing, and the 3rd described infrared sensor S3 is angularly disposed red first
Between outer sensor S1 and the second infrared sensor S2, the 4th described infrared sensor S4 is angularly disposed at the 5th infrared sensing
Between device S5 and the 6th infrared sensor S6, the first described High-speed DC servomotor Y and the second High-speed DC servomotor X
Being separately mounted to the right and left of slight Mus housing the position between two wheels, described vac sorb motor M sets
Put the centre position above the first High-speed DC servomotor Y and the second High-speed DC servomotor X, the first described magnetoelectricity
Encoder M1 and the second magnetism encoder M2 is separately positioned on the first High-speed DC servomotor Y and the second High-speed DC servo electricity
The lower section of machine X, described motion sensor G1 and collection sensor L1 are successively set on the lower section of vac sorb motor M.Wherein,
Described wheel includes X wheel, Y wheel, R wheel and Z wheel.In the present embodiment, also include that panel, described panel are arranged on slightly
In Mus housing, described panel uses dual-core controller, communicates even including ARM and FPGA, described ARM Yu FPGA
Connect.
Corner dimension in above-mentioned, when the 3rd described sensor S1 and the 4th sensor S4 is angularly disposed and between Y-axis
For:。
In the present embodiment, the first described magnetism encoder M1 and the second magnetism encoder M2 all uses and passes based on magnetoelectricity
The encoder of sensor AS5040H；Being provided with vacuum cup on described wheel, absorption property is good.
As it is shown in figure 5, described double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly also includes electricity
Source apparatus, is provided separately the panel described in electric current driving by described supply unit, and described panel sends first respectively
Control signal, the second control signal and the 3rd control signal, by the first described control signal, the second control signal and the 3rd control
Signal processed controls described the second High-speed DC servomotor, the first High-speed DC servomotor and vac sorb motor respectively
The motion of slight Mus is controlled again after signal syntheses.
In above-mentioned, described supply unit uses lithium ion battery.
STM32F4 series is in addition to pin and softwarecompatible high performance F2 series, and the dominant frequency (168MHz) of F4 is higher than F2 system
Row (120MHz), and support monocycle DSP instruction and floating point unit, bigger SRAM capacity (192 KB, F2 are 128 KB),
The more advanced peripheral hardwares such as the embedded flash memory of 512KB-1MB and image, network interface and data encryption.STM32F4 series base
In up-to-date STM32F405 Cortex M4 kernel, in existing outstanding STM32 microcontroller products combination, increase letter newly
Number process function, and improve the speed of service；STM32F405x is integrated with intervalometer, 3 ADC, 2 DAC, serial line interface, outer
Depositing interface, real-time clock, CRC computing unit and simulation real random number generator at interior a whole set of advanced peripheral hardware, these performances make
Obtain F4 series can be easier to meet the Digital Signals demand controlling to mix with signal processing function.Efficient signal processing
Function and the low energy consumption of Cortex-M4 processor family, low cost and the combination of wieldy advantage so that it can be micro-
Micro-Mus multiple sensors signal processing provides reliable foundation.
FPGA is the abbreviation of English Field Programmable Gate Array, i.e. field programmable gate array, be
The product of development further on the basis of the programming devices such as PAL, GAL, EPLD.It is to lead as special IC (ASIC)
A kind of semi-custom circuit in territory and occur, i.e. solve the deficiency of custom circuit, overcome again original programming device door
The shortcoming that circuit number is limited.FPGA uses the design philosophy of software implementation to realize the design of hardware circuit, thus make based on
The system of FPGA design has good reusable and amendment property.A3P250 is that the one of ACTEL company design is based on non-volatile
The FPGA device of property Flash technology.Device have employed fine granular framework VersaTile, has 250K system door structure, uses
The Technology of 130 nm, core voltage 1.5 V, A3P250 be antifuse, radioprotective, high-low temperature resistant, low in energy consumption, fast
Degree is fast, and application is relatively wide, and These characteristics makes A3P250 be particularly suitable for owing to high performance multiaxis DC servo drive controls,
Three axles being particularly suitable in the present invention synchronize actuated control system, directly STM32F405 from complicated SERVO CONTROL
In free.
The present invention, in order to reduce the volume of double-core slight Mus high speed Full Digitized Servo Control System, has given up two traditional axles
DC servo motor H type drive axle L6207D, and use the two axle DC servo motor drive axles that volume is less, voltage is less
A3906SESTR-T, A3906SESTR-T are a kind of single and double line DC motor Driver chips, and A3906 is intended to walk for low-voltage
Enter the pulse-width controlled (PWM) of motor, single channel and two-way direct current motor, can be in the electric current of each passage output up to 1 A, work
Voltage range is 2.5 to 9 V.The built-in fixing turn-off time PWM timer of A3906SESTR-T, according to chip periphery
The selection of sampling resistor, arranges peak point current.Cross stream output token and reach peak value for notification controller current of electric, can
For overcurrent protection, These characteristics makes A3906SESTR-T be particularly suitable for the two axle walking servosystem of slight Mus
In, the connection figure of A3906SESTR-T and slight Mus two axle DC servo motor is as it is shown on figure 3, wherein IN1, IN2, IN3, IN4
Coming from servo controller with SLEEP signal, controller is by adjusting IN1, and the signal of IN2, IN3, IN4 adjusts its output letter
Number OUT1A, OUT1B, OUT2A, OUT2B, realize the four-quadrant motion of DC servo motor then.
As shown in Figure 6, described double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly is additionally provided with
Host computer procedure and motion control program, described host computer procedure also includes that labyrinth is found out, labyrinth stores and data output, institute
The motion control program stated also includes based on ARM+FPGA tri-axle total digital DC SERVO CONTROL, location, labyrinth and model selection.
Wherein, described also include that interconnective four-wheel is slight based on ARM+FPGA tri-axle total digital DC SERVO CONTROL
Mus total digital DC SERVO CONTROL and based on single shaft direct current generator absorption friction service control, the slight Mus of described four-wheel is digital
Actuated control system includes position module, acceleration module and acceleration module.
In order to improve the stability of double-core slight Mus high speed MPU Controlled All Digital Servo System, increase the contact surface of slight Mus and ground
Long-pending, reduce the reach of slight Mus center of gravity, rear shifting or sidesway, the present invention realizes the merit of two axle four-wheels by gear mechanism structure
Can, the rotating shaft of the every spindle motor in left and right is equipped with the gear wheel machinery of a little mechanical gear, this gear and former and later two wheels
Connecting, wherein the tooth of gear wheel is weekly 60, and the tooth of little gear is weekly 15, makes each wheel by such mechanical connection
All become power wheel.
In order to improve the stability of double-core slight Mus high speed MPU Controlled All Digital Servo System further, prevent slight Mus from visiting at a high speed
Cause walking to be skidded during rope owing to floor-dust is more, the present invention adds minisize dc in slight Mus servo hardware system
Motor M, in slight Mus motor process, motor M does not stop to aspirate the air in micro vacuum sucker by vacuum suction apparatus, makes
The external and internal pressure of micro vacuum sucker is different, produces certain negative pressure so that it is produce certain to the ground, labyrinth with dust
Absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skid.
In order to improve the double-core slight Mus stability when solving labyrinth further, the present invention is hard in double-core slight Mus servo
Adding high-performance MEMS motion sensor LY3200ALH in part system, LY3200ALH can measure the driftage of slight Mus
Rate, the LY3200ALH parameter moment is by STM32F405 controller record and calculates, when slight Mus becomes solving labyrinth attitude
Change when exceeding setting threshold values, a new sampling period FPGA controller immediately to its position compensation, it is to avoid slight Mus is remote
The generation of remote off-center position phenomenon, improves stability during its rapid solving.
In order to preferably gather labyrinth information and reduce the volume that infrared sensor takies, the present invention uses infrared sensor
SFH4350 instead of the OPE9954A of tradition use, and the infrared light of infrared sensor S1, S2, S3, S4, S5, S6 is through side barricade
Can be received by corresponding infrared remote receiver BPW85A after feedback, as current after then the value of feedback via controller of BPW85A calculates
The feedback of position, controller adjusts the attitude of slight Mus by these values of feedback.
In order to reduce the price raising that photoelectric encoder takies, and reducing the dust impact on photoelectric encoder, the present invention uses
Encoder M1, M2 of based on magnetoelectric transducer AS5040H instead of traditional photoelectric encoder C1 and C2, and this sensor can have
Effect measures speed when two axle DC servo motors move and displacement, for slight Mus rapid discovery, three closed loop servos of spurt
Control to provide reliable basis.
Find in an experiment, use four groups of sensors can improve the sample frequency of sensor, be conducive to improving slight Mus
Speed, but if four groups of sensors compensate do bad it would be possible to that cause that slight Mus solves is a wrong fan
Palace；If using the unknown labyrinths of six groups of sensors detection, solving labyrinth and typically not havinging a mistake, but too much sensor group
Conjunction have impact on sample frequency, is unfavorable for the raising of slight Mus speed；In order to take into account different international rules and Maze Exploration
Accuracy, independent research of the present invention brand-new control models based on six groups of sensor independent assortment structure changes detection labyrinths, institute
Invention three axle four-wheels slight Mus two-dimensional structure as shown in Figure 4, in the diagram, in order to preferably detect labyrinth, sensor S3 and S4
And the corner dimension between Y-axis is:, interval at this, sensor cooperating state is optimal.For exploring nothing
The international rule of time requirement, opens six groups of sensors by software and explores pattern, and sensor S1, S6 jointly act on and judge front
Barricade, sensor S2, S3 judge that the existence of its left side barricade, sensor S4, S5 judge the existence of barricade on the right of it, simultaneously S2,
S3 with S4, S5 cooperate to provide navigation foundation for slight Mus linear motion；For exploring the international rule having time requirement, by soft
Part opens four groups of mode sensors, and sensor S1, S6 jointly act on and judge that front barricade, sensor S3 judge its left side barricade
Existing, sensor S4 judges the existence of barricade on the right of it, and S3 cooperates with S4 to provide navigation foundation for slight Mus linear motion simultaneously.
The infrared light of infrared sensor S1, S3, S4, S6 can be received by corresponding infrared remote receiver BPW85A after side barricade feeds back,
Then as the feedback of current location after the value of feedback via controller of BPW85A calculates, then controller is adjusted by these values of feedback
The attitude of whole slight Mus.
To sum up, the present invention is wanting of overcome monokaryon controller not meet stability that slight Mus quickly walks and rapidity
Ask, given up the single single-chip microcomputer mode of operation that domestic slight Mus is used, on the premise of absorbing external Dynamic matrix control thought,
Independently invent brand-new double-core control model based on ARM (STM32F405)+FPGA (A3P250), its theory diagram such as Fig. 5 institute
Show: panel is with FPGA for processing core, with magnetism encoder as feedback element, realized by its internal three Close loop servo control
The Synchronization Control of three axle DC servos.STM32F405 frees in the middle of complicated work, it is achieved the signal processing of part is calculated
The control logic of method and FPGA, and respond interruption, it is achieved data communication and storage live signal.
With reference to Fig. 4, being embodied as step is:
For the double-core STM32F405+FPGA controller designed herein, under power-on state, slight Mus is introduced into self-locking
State, controller is opened vacuum draw motor M, is automatically adjusted the friction coefficient of slight Mus and ground.Slight Mus dependence front,
Left and right side keeps in obscurity sensor S1, S3, S4, S6(or S1, S2, S3, S4, S5, S6) according to actual navigational environment transmission parameter to
STM32F405 in controller, STM32F405 are converted into slight Mus two axle DC servo motor these ambient parameters and to run
Distance, speed and acceleration reference value, STM32F405 then with A3P250 communication, A3P250 is according to these order parameters again
Feedback in conjunction with motor magnetism encoder M1 and M2 generates the synchronization PWM ripple of two spindle motor X and motor Y, and A3P250 adjusts two axles
The output signal of DC servo motor driving chip A3906SESTR-T, A3906SESTR-T drives two spindle motor X and Y to advance,
Motor X and motor Y running status feed back to A3P250 through magnetism encoder M1 and M2, adjust after A3P250 processes
The pin output state of A3906SESTR-T, changes the kinestate of slight Mus then.A3P250 is in real time by various sensors
The situations such as the slight Mus speed of travel, ground are detected, and effectively regulates vacuum suction by the SERVO CONTROL of regulation motor M
The dish absorption affinity to ground, adds stability when slight Mus quickly walks.
With reference to Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, its concrete functional realiey is as follows:
1) in order to drive the slight Mus of dynamic triaxial four-wheel and carry out rapid movement and be capable of the Rapid transplant of program, this control
System introduces FPGA(A3P250), but be connected with STM32F405 and real-time communication by I/O mouth, STM32F405 pass through
Interrupt controlling it to turn on and off；
2) turning on the power switch moment, cell voltage can be detected by STM32F405, if low pressure, will forbid FPGA
Work, motor can not self-locking, voltage sensor V1 is by work simultaneously, and sends alarm signal；
3) if voltage is normal, system will detect sensor circuit and clock circuit, if sensor circuit and clock circuit go out
Existing fault, system will automatically reset, again detect, and if you have questions, will report to the police.If system worked well, first controller leaves
Open vacuum draw motor M, first micro vacuum sucker is aspirated by aspirator, make vacuum cup mask over the ground have certain suction
Attached power, controller also detects in real time, if ground is not clean, system can strengthen vacuum cup to ground by self-regulation motor M
Absorption affinity；
4) in micro computer motor process, the infrared transmitting tube SFH4350 that sensor S1, S2, S3, S4, S5, S6(six is independent
The infrared light sent is converted into the information in labyrinth around after six independent infrared remote receiver BPW85A accept) judge around
Environment also gives STM32F405, and controller can select to open four groups of mode sensors or six groups of mode sensors according to rule,
STM32F405 is converted into slight Mus four-wheel all around distance to be run, speed and acceleration instruction these ambient parameters
Value, STM32F405 then with A3P250 communication, A3P250 according to various explorations and the different requirements of spurt, compiles in conjunction with magnetoelectricity
The code speed of device M1 and M2 and Displacement Feedback, through its internal servo control algorithm generate the PWM ripple controlling motor X and motor Y with
And direction and Velocity-time motion ladder diagram, the area that this is trapezoidal comprises is exactly slight Mus DC servo motor X and direct current is watched
Take motor Y distance to be run, A3P250 adjust the pin output state of A3906SESTR-T drive motor X and motor Y according to
Ladder diagram regular movement, during slight Mus advances, A3P250 by magnetoelectric transducer M1 and M2 in real time to motor speed, micro-
The situations such as micro-Mus travel distance, ground detect, and effectively regulate vacuum cup pair by the SERVO CONTROL of regulation motor M
The absorption affinity on ground, and processing data communication to STM32F405；
5) if it find that labyrinth solves occurs that endless loop will be in STM32F405 and A3P250 sends in slight Mus motor process
Disconnected request, STM32F405 and A3P250 can be to interrupting doing very first time response, if the interrupt response of STM32F405 is not come
Obtaining and process, A3P250 can directly discharge the driving signal of the motor X of slight Mus, motor Y, make mouse be still in original place；
6) motor X, magnetism encoder corresponding for motor Y can export its position signalling A and position signalling B, magnetism encoder
Position signalling A pulse and B pulsed logic state often change once, and the location register in A3P250 can be according to the operation of left and right wheels
Direction adds 1 or subtracts 1；
7) etc. overflow and interrupt arriving, after the position signalling of magnetism encoder M1 and M2 is processed by A3P250, just produce an INDEX
Signal, to STM32F405 depositor, the absolute position of record motor, is then convert into slight Mus particular location in labyrinth,
And store current labyrinth information；
8) STM32F405 is according to the slight Mus particular location in labyrinth, send corresponding acceleration, speed and location updating instruct to
The ladder diagram generator of A3P250, as reference value, is combined parameter of electric machine feedback information by ladder diagram generator, passes through A3P250
Three internal ring Digital PID Controller generate PWM ripple signal and the motor positive and inverse signal that power drive motor needs, and are used for real
Now slight Mus system motor X, the SERVO CONTROL of motor Y；
9) STM32F405 determines motor X, motor Y rotating signal according to substantial periphery magnetoelectric transducer M1 and M2 transducing signal,
Thus the rotating realizing motor controls；
10) slightly Mus once accelerate, slow down, road dust more, A3P250 can enable vacuum absorption device automatically, opens electric
The SERVO CONTROL of machine M, slight Mus is switched to three axle four-wheel drive states naturally, enhances the adhesive force of slight Mus and handling；
11) in slight Mus forward movement, sensor S3(or S2, S3) and S4(or S4, S5) barricade of left and right can be entered
Row judges, STM32F405 record stores current labyrinth retaining wall information, and slight Mus is according to the labyrinth information of direction of advance left and right barricade
Enter single wall navigation pattern or double wall navigation pattern: as sensor S3(or S2, S3) and S4(or S4, S5) detect left and right
When all having barricade, digital slight Mus enters double wall navigation pattern, now sensor S3(or S2, S3) and S4(or S4, S5) meeting
The labyrinth information detected is input to Full-digital servo controller, and controller is the value of infrared real-time detection and pre-set value phase
Relatively.When slight Mus quickly walks by external interference departing from when setting center, and probe value will produce relatively with setting value
Large deviation, now sensor G1 (LY3200ALH) records the instantaneous yaw rate of current Mus slightly, A3P250 full-digital servo control
Device processed is proceeded by real-Time Compensation and is finely tuned the PWM ripple input of two axle servomotor X and Y by A3906SESTR-T, by this
Mode can readjust the attitude of slight Mus so that it is comes back to set center；As sensor S3(or S2, S3) detection
A barricade is had and S4(or S4, S5 to left surface) when detecting right side without barricade, digital slight Mus enters left wall and navigates pattern, this
Time sensor S3(or S2, S3) the labyrinth information detected can be input to Full-digital servo controller, controller can be in real time
Detection value want to compare with pre-set value, when slight Mus quickly walks by external interference departing from setting center time,
Probe value will produce certain deviation with setting value, now sensor G1 (LY3200ALH) record current Mus slightly instantaneous partially
Boat rate, A3P250 Full-digital servo controller proceeds by real-Time Compensation and finely tunes two axle servomotors by A3906SESTR-T
The PWM ripple of X and Y enters through this mode can readjust the attitude of slight Mus so that it is come back to set center；When
Sensor S4(or S4, S5) detect right flank and have a barricade and S3(or S2, S3) detect left side without barricade constantly, digital micro-
Micro-Mus enters right wall navigation pattern, now sensor S4(or S4, S5) the labyrinth information detected can be input to digital watching
Taking controller, controller can be thought that the value of real-time detection compare with pre-set value, dry by the external world when slight Mus quickly walks
Disturbing departing from when setting center, probe value will produce certain deviation, now sensor G1 (LY3200ALH) note with setting value
The instantaneous yaw rate of the lower current Mus slightly of record, A3P250 Full-digital servo controller proceeds by real-Time Compensation and passes through
A3906SESTR-T finely tunes the PWM ripple of two axle servomotor X and Y and enters through this mode and can readjust the appearance of slight Mus
State so that it is come back to set center；
12) when the double-core three slight Mus of axle four-wheel moves to new address under the control of sensor G1 (LY3200ALH),
STM32F405 microprocessor will update its coordinate, and judge that its coordinate is (X1, Y1), update it if not by continuation
Coordinate, if notification controller has arrived target, then puts exploration of making a return voyage and is masked as 1, and slight Mus prepares return and explores；
13) in order to realize slight Mus exploring and coordinate calculates accurately during spurt, sensor S3(about slight Mus or
S2, S3) and S4(or S4, S5) can the moment labyrinth retaining wall and the pillar of surrounding be detected, if S3(or S2, S3) or S4
(or S4, S5) find sensor signal there occurs larger value of transition, then illustrate slight Mus enter from have labyrinth retaining wall to
Without the change of labyrinth retaining wall (or from without labyrinth retaining wall to there being labyrinth retaining wall) state, STM32F405 can work as according to slight Mus
Front running status also combines the output of magnetism encoder M1 and M2 and accurately compensates, and thoroughly eliminates slight Mus in complex maze
The error added up；
14) if slightly Mus runs into fault when hitting wall in running, motor X, the electric current of motor Y will increase, and set when exceeding
During definite value, work, A3P250 will be dragged down the input signal of A3906SESTR-T by the current collection circuit of A3906SESTR-T,
A3P250 controls A3906SESTR-T immediately and quits work, and then release motor X, motor Y, thus efficiently solves stall and ask
Topic；
15) Mus can detect cell voltage at running in the moment slightly, and when low pressure occurs in system, sensor V1 will open concurrently
Go out alarm, be effectively protected lithium ion battery；
16) in slight Mus motor process, if servosystem torque occurs in that pulsation interference, A3P250 can be according to current state
Electric current loop is compensated for, quickly adjusts the pid parameter of electric current loop so that system fast and stable gets off, and prevents torque pulsation pair
The impact of servosystem performance；
17) in the whole motor process of slight Mus, sensor L1 can moment jamming light source to external world be acquired, and is then transferred to
STM32F405, STM32F405 can compensate external interference automatically according to L1, decrease external interference light source quick to slight Mus
Explore and the interference of spurt servosystem；
18) returning to coordinate starting point (0,0) under the control of sensor G1 (LY3200ALH) when slight Mus, STM32F405 can basis
The original state of Mus slightly updates its information: if return is explored for the first time, then controller can be according to existing detection
Labyrinth information uses improvement Flood Fill algorithm to solve optimal path；If spurt return is explored, then controller can basis
The detection labyrinth information updated uses improvement Flood Fill algorithm secondary to solve optimal path, and then A3P250 is according to dash speed
Size adjusts motor M automatically, changes the vacuum cup absorption affinity to ground, meets friction needs during fast sprint.
The invention have the advantages that:
1: resistance and electric capacity in the present invention all use 0402 encapsulation to instead of original 0603 encapsulation, can preferably reduce micro-
The volume of micro-Mus, the miniaturization of the most slight Mus；
2: STM32F405 of the present invention uses BGA package to instead of original LQFP176 encapsulation so that the volume that chip occupies is more
Little, advantageously reduce the volume of slight Mus servo-control system, and BGA package is more conducive to dissipating of slight Mus servo controller chip
Heat；
3: in order to fully improve stability and the driveability of double-core slight Mus servosystem, and take into account the advantage of two-wheel drive,
The present invention has given up original many power real-time 4 wheel driven structure, realizes two axle four-wheel functions by gear mechanism structure, both reduced
Slight Mus controller drives the number of power motor, achieves the function of many wheels further through gear, improves solving of slight Mus
Walking stability during labyrinth；
4: owing to STM32F405 is integrated with new DSP and FPU instruction, the high speed processing performance of 168MHz improves digital signal
The execution speed of controller and code efficiency so that controller processes sensor signal real-time performance to be increased；
5: realize adsorption function as required.During slight Mus solves labyrinth, once run into road dust more or accelerate
During situation, FPGA can feed back the SERVO CONTROL opening absorption motor M immediately according to the magnetism encoder of two spindle motors, and slight Mus is
System nature is switched to three axle four-wheel drive states, enhances the adhesive force of slight Mus and handling；
6: owing to using two axle four-wheel drive structures, add the contact area of slight Mus and ground, decrease the slight Mus of two-wheeled
Generation due to the stall problem that frame for movement causes so that Mus slightly has more preferable walking function；
7: slight Mus servosystem introduces high-performance MEMS motion sensor LY3200ALH at this, it is achieved that Mus slightly exists
The detection of instantaneous rotary speed when solving labyrinth, and utilize feedback to realize the real time correction of whole process navigation, is conducive to improving micro-
The stability during walking at a high speed of micro-Mus and dynamic property；
8: when slightly Mus turns to, in order to ensure the stability and the accuracy that rotate, the most anti-by sensor LY3200ALH
Feedback, based on the STM32F405+A3P250 double-core servo controller turning real time correction to slight Mus, improves slight Mus and solves
The correctness of labyrinth information；
9: by FPGA output PWM modulation signal and direction signal, can directly drive dynamic triaxial DC servo electricity by drive circuit
Machine, not only alleviates the burden of STM32F405, simplifies interface circuit, and eliminate STM32F405 internal composition position,
Speed controlling program, and the trouble of various pid algorithm so that the debugging of system is simple；
10: according to the difference of international rule, the change that controller can realize four groups of sensors and six groups of sensors by software is tied
Structure switches, and improves slight Mus and solves the technology in labyrinth, the arithmetic speed of beneficially raising system；
11: owing to using the traditional photoelectric encoder technology of magnetism encoder technical substitution so that the volume of Mus slightly is permissible
Less, the development of the most slight Mus miniaturization；
12: owing to using magnetism encoder to instead of traditional photoelectric encoder so that the dust data acquisition shadow to encoder
Ring and be substantially reduced, improve the slight Mus high speed speed of travel and the accuracy of displacement, also ensure that slight Mus solves the standard in labyrinth
Really property；
13: owing to this controller uses FPGA to process the various algorithms that slight Mus is explored, makes a spurt, effectively prevent program
" race flies ", capacity of resisting disturbance is greatly enhanced；
The torque of High-speed DC servomotor X, motor Y and motor M can be carried out by 14: in slight Mus running, FPGA
Line identification also utilizes motor torque to compensate with the relation of electric current, decrease motor torque shake to slight Mus rapid discovery,
The impact of fast sprint；
15: can effectively regulate the vacuum cup absorption affinity to ground by regulation motor M, eliminate slight Mus and visiting at a high speed
The generation of skidding when rope, sound lunge；
16: owing to having storage function, this can transfer, after making slight Mus power down, the labyrinth information explored easily,
Time that secondary explores and path is made to be substantially reduced；
17: in the controlling, FPGA can adjust the pid parameter within controller according to labyrinth situation around reality, easily realize
Segmentation P, PD, PID control and nonlinear PID controller, make system have certain self adaptation；
18: in motor process, take into full account battery effect in this system, based on STM32F405+FPGA controller
The running status of slight Mus is all being monitored and computing by the moment, it is to avoid the generation of big electric current, so fundamentally solving
The big electric current impact to lithium ion battery, it is to avoid the lithium ion battery overaging phenomenon that causes due to heavy-current discharge
Generation；
The current acquisition function of 19: drive axle A3906SESTR-T can well solve slight Mus and run in running and hit
The motor rotation blockage that the situations such as wall occur, when output is beyond setting value, the current collection circuit of A3906SESTR-T works immediately,
Direct current generator X, the driving signal of motor Y are pulled low, thus efficiently solve stall problem.
In sum, the double-core three axle four-wheel structure changes of present invention Mus Full-digital servo controller the most slightly, improve
The stability of double-core slight Mus MPU Controlled All Digital Servo System, vac sorb motor does not stop to aspirate micro vacuum by vacuum suction apparatus
Air in sucker, the external and internal pressure making micro vacuum sucker is different, produces certain negative pressure so that it is to the fan with dust
Ground, palace produces certain absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skids；Motion sensor
The yaw rate of slight Mus can be measured, when slight Mus solve labyrinth attitude change exceed setting threshold values time, at one
New sampling period FPGA controller is immediately to its position compensation, it is to avoid sending out of slight Mus off-center position phenomenon far away
Raw, improve stability during its rapid solving.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (9)
1. a double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly, it is characterised in that include slight Mus
Housing, wheel, the first infrared sensor, the second infrared sensor, the 3rd infrared sensor, the 4th infrared sensor, the 5th red
Outer sensor, the 6th infrared sensor, the first High-speed DC servomotor, the second High-speed DC servomotor, vac sorb electricity
Machine, the first magnetism encoder, the second magnetism encoder, motion sensor and collection sensor, four described wheels are respectively
Being arranged on the limit, the left and right sides of slight Mus housing two-by-two, the first described infrared sensor and the 6th infrared sensor are respectively provided with
At the limit, the left and right sides of slight Mus housing the front end that is positioned at wheel, the second described infrared sensor and the 5th infrared sensor
Being arranged on the front end of slight Mus housing, the 3rd described infrared sensor is angularly disposed infrared at the first infrared sensor and second
Between sensor, the 4th described infrared sensor is angularly disposed between the 5th infrared sensor and the 6th infrared sensor,
The first described High-speed DC servomotor and the second High-speed DC servomotor are separately mounted to the left and right two of slight Mus housing
Limit the position between two wheels, described vac sorb motor is arranged on the first High-speed DC servomotor and second
Centre position above High-speed DC servomotor, the first described magnetism encoder and the second magnetism encoder are separately positioned on
First High-speed DC servomotor and the lower section of the second High-speed DC servomotor, described motion sensor and collection sensor
It is successively set on the lower section of vac sorb motor, also includes that panel, described panel are arranged in slight Mus housing, described
Panel use dual-core controller, be communicatively coupled including ARM and FPGA, described ARM with FPGA.
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
Being, corner dimension when the 3rd described sensor and the 4th sensor are angularly disposed and between Y-axis is:。
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
Being, described ARM uses STM32F405 controller, described FPGA to use A3P250 controller.
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
Being, the first described magnetism encoder and the second magnetism encoder all use encoder based on magnetoelectric transducer AS5040H.
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
It is, described wheel is provided with vacuum cup.
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
Being, described double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly also includes supply unit, by described
Supply unit be provided separately electric current drive described in panel, described panel send respectively the first control signal, second
Control signal and the 3rd control signal, controlled respectively by the first described control signal, the second control signal and the 3rd control signal
After the signal syntheses of the second High-speed DC servomotor, the first High-speed DC servomotor and vac sorb motor described in system
Control the motion of slight Mus again.
Double-core three axle four-wheel structure changes the most according to claim 6 Mus Full-digital servo controller, its feature the most slightly
Being, described supply unit uses lithium ion battery.
Double-core three axle four-wheel structure changes the most according to claim 1 Mus Full-digital servo controller, its feature the most slightly
Being, described double-core three axle four-wheel structure changes Mus Full-digital servo controller the most slightly is additionally provided with host computer procedure and fortune
Dynamic control program, described host computer procedure also includes that labyrinth is found out, labyrinth stores and data output, described motor control journey
Sequence also includes based on ARM+FPGA tri-axle total digital DC SERVO CONTROL, location, labyrinth and model selection.
Double-core three axle four-wheel structure changes the most according to claim 8 Mus Full-digital servo controller, its feature the most slightly
Be, based on ARM+FPGA tri-axle total digital DC SERVO CONTROL, described also includes that the slight Mus of interconnective four-wheel is digital
Actuated control system and based on single shaft direct current generator absorption friction service control, described four-wheel slight Mus total digital DC servo
Control to include position module, acceleration module and acceleration module.
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| CN105116897A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed four-wheeled picomouse full digital navigation servo controller |
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