摘要
目前对于Arduino平台的轮式移动机器人的控制都是基于硬件自带的IDE环境,但在该环境下程序可读性差、调试困难,且很难采用高级控制算法。针对以上问题,提出了2种基于Arduino平台的轮式移动机器人速度控制模式。第1种控制模式为离线模式,即将上位机中的控制模型下载至Arduino控制器进行离线运算,并将返回的数据通过Simulink的图形处理界面进行实时监控;第2种控制模式为在线模式,即将Arduino控制器采集的速度等信号返回上位机处理运算,将经过处理运算的数据反馈至Arduino控制器对轮式移动机器人进行在线控制。通过PID算法对2种控制模式进行了实车试验对比。结果表明:此两种模式均能对速度进行精确控制,在线模式具有更好的速度跟踪精度和响应速度。
Currently the control of wheeled mobile robot based on Arduino is dealt with the IDE programming environment. Under the environment, the program is difficult to read and debug, and it is also complex to use the advanced control algorithm. In order to overcome the above defects, two kinds of speed control modes are proposed. The first mode is offline mode, and the control model of host computer is downloaded to the Arduino controller for operation, and the returned data is monitored in real time through the graphical interface of Simulink. The second mode is online mode, the speed and other signals collected from the Arduino controller are returned to the host computer to process. The processed data is fed back to the Arduino controller to control the wheeled mobile robot. Two control modes are compared by PID algorithm under real robot condition. Test results show that the speed can all be accurately controlled in the two modes, online mode has better speed tracking accuracy and response speed.
出处
《重庆理工大学学报（自然科学）》
CAS
2017年第6期70-77,共8页
Journal of Chongqing University of Technology：Natural Science
基金
中央高校基本科研业务费专项资金资助项目(NS2015015)
中国博士后科学基金资助项目(2016M601799)
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20160207
20170215)
作者简介
王凯正（1992-），男，山东青岛人，硕士，主要从事车辆动力学与控制，E-mail：653935270@qq．com
林棻（1980-），男，江苏南京人，博士，副教授，主要从事车辆动力学与控制研究，E-mail：flin@nuaa．edu．cn。
