Computer Engineering and Applications ›› 2006, Vol. 42 ›› Issue (12): 19-.

• 博士论坛 • Previous Articles     Next Articles

Design of Control System Based on DSP for Remote-brainless Soccer Robot

Jian Gao,,   

  1. 华中科技大学控制系
  • Received:2005-12-15 Revised:1900-01-01 Online:2006-04-21 Published:2006-04-21
  • Contact: Jian Gao



  1. 华中科技大学控制系
  • 通讯作者: 高健 gaojianhust

Abstract: According to the configuration of two closed control loops based on vision-servo, the design of control system for soccer robot car based on DSP technology and nonlinear PI control was presented, which ensured the control accuracy and improved the real-time performance. Meanwhile, fuzzy self-tuning nonlinear PI control method applied in the position control loop could enhance the self-adaptive capabilities. The experimental results in soccer robot system verified the validity. The approaches can take action in the control fields of other mobile robots too.

Key words: DSP, nonlinear PI control, fuzzy self-tuning, soccer robot, mobile robot

摘要: 以集控式足球机器人为研究对象,以双闭环视觉伺服控制结构为主线,提出了基于DSP技术和非线性PI控制算法的机器人小车控制系统设计,保证了控制的准确性,提高了控制的实时性;论证了单参数模糊自校正非线性PI算法应用于机器人位置环控制中的可行性,增强了系统的自适应能力。实验证明了此方案对足球机器人运动控制的有效性,其原理对其它类型移动机器人的控制同样有借鉴作用。

关键词: DSP, 非线性PI控制, 模糊自校正, 足球机器人, 移动机器人