基于dsp的爬壁機器人控制系統(tǒng)設(shè)計與研究

1、沈陽建筑大學(xué)碩士學(xué)位論文基于DSP的爬壁機器人控制系統(tǒng)設(shè)計與研究姓名：趙博宇申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：吳成東201103IIAbstract碩士研究生學(xué)位論文AbstractThispaperisbasedonthewallclimbingrobotofantiterrismsurveillanceasitsbackgroundsupptedbythe“863“programitem“ADemonstratin

2、gSystemfAntiterrismStereoscopicScoutMonit““ResearchontheKeyTechniqueofMicroMobilePlatfmfAntiterrismScoutExplation“.Themainwkissummarizedasfollows:(1)Theoverallprogramdesignofwallclimbingrobot(2)ThehardwareDesignofimpleme

3、ntationofembeddedcontroller(3)Thevideotransmissionsystemofwallclimbingrobot(4)Thesoftwaredesignofimplementationofembeddedcontroller(5)Theproposedmethodofsimulationexperiment.Thispaperdescribestheresearchbackgroundpropose

4、stheresearchsignificancesocialvalueofwallclimbingrobotIthassummarizedtheclassificationsacteristicsofwallclimbingrobotpreliminarysummarizingthewallclimbingrobot’sdevelopmentstatusathomeabroadfpastfewdecadesthensummarizing

5、thedifficultiesofwallclimbingrobot.Theoveralldesignofwallclimbingrobotwasexplainedinthispaperthewallclimbingrobotusewheelcolumnasthewayofitswalkingusingbothnegativepressureadsptionvacuumsuction.Basedonpreprogrampreparati

6、onsimulationinitiallyexpectingthetechnicalindicatstobeachieveditconfirmsthattheoveralldesignisfeasiblefinallydeterminetheoverallsystemdesignitscomponents.Contrarytothefmofsystemstructurecompositionoftheptablecontrollerro

7、botcombiningwiththespecificapplicationthatdesignacontrolsystembasedonTMS320F28335DSP.Inadditionalsodesignedcommunicationsystemoftherobotptablecontrollerthewirelessremotecontrolwirelessvideotransmissionsystemontherobotare

8、responsiblefcollectingimageinfmationreceivinginstructions.Thechoiceofmotservocontrolwhicharethemostimptantbasicpartsofthewholecontrolsystem.TherefethepaperputsfwardtheexponentialcurvevelocityplanningthatisbasedonPIDcontr

9、olstrategymeetingtheneedofcontrolaccuracythroughtheoptimizationoftheparametersitwillcontributetodesigningsoftwarecontrolsystemSoftwareofembeddedcontrolsystemhasbeenanalyzeddesigned，thenobjecttothewholecontrolsystemacteri

10、sticsneedsingtheClanguagethatbasedonCCSsimulationplatfmadoptingthemoduleofstructuredapproachtodesignthesoftwareofrobotptablecontroller.Mainlydividedintothemainprogrammodulecommunicationmodulesuckerfootcontrolmodulemotion

11、planningmodulethesensinfmationacquisitionmoduleseveralotherparts.Wehavedonesomeunitexperimentswiththesensinfmationacquisitionmoduleofthemotalsogatheringthepressureofthesealedchamberaddingafilterlimitingprocesssuccessfull

12、yfthereasonthattheantiinterferencehaspromoted.Carriedoutaseriesofexperimentsontheprototypeanalyzingtheresultsofexperiment.Theexperimentismainlytodesignacurvedsteelpiecetosimulatethecurvatureradiusofaircraftmakinguseofthe