击鼓机器人驱动控制部分的设计.doc

编号： 毕业设计(论文)说明书 课 题： 敲鼓机器人驱动控制 部分的设计 院 （系）： 机电工程学院 专 业： 机械设计制造及其自动化 学生姓名： 学 号： 指导教师单位： 机电工程学院 姓 名： 职 称： 高级工程师 题目类型：(理论研究 (实验研究 (工程设计 (工程技术研究 (软件开发 2009年 5月30日 摘 要 本文依据2009全国大学生机器人电视大赛的要求完成一个ATmega16作为控制处理核心。电机的驱动采用MLDS3810直流伺服驱动器，运用先进的伺服驱动系统进行控制。同时在敲鼓机器人身上安装了多个传感器，以便在运行时实现位置的参考和矫正。软件设计：机器人的转向是通过程序设定两个电机速度差来实现，其速度控制采用脉宽调制的方法。而脉宽调制法的优点是方便地实现对机器人的行走路线及行走速度的控制。在敲鼓机器人的自适应调节方面，采用了经典的PID算法，通过多次试验调整合适的参数，实现了敲鼓机器人运行的平衡性、稳定性。 关键词：敲鼓机器人；AVR单片机；PID算法；伺服驱动系统 Abstract In this paper, based on 2009 National Championship of college students require television robot to complete a drumming robot.Robot design in general, including the design of mechanical structure, circuit design of hardware and software system design, and ultimately beat the robot to achieve self-recognition Onto the chair, and beat drums and downto the chair function. The design of the major work done the following three aspects: Mechanical body: Robot we have chosen the chassis frame and wheel differential drive; Beat drums and a good variety of programs through the comparison and testing, to select additional pressure rod means to achieve fast and accurate one-time beat drums. Circuit hardware design: In accordance with the requirements of control, ATME companies selected AVR Series ATmega16 microprocessor core as the control. Motor servo drive using MLDS3810 DC drives, servo drives the use of advanced control systems. At the same time, the robot who beat drums and a number of sensors installed in order to achieve run-time and correct location of the reference. Software design: the robot through the process towards setting the speed difference between the two motors to achieve speed control using pulse width modulation method. Robot through the process of turning the two motor speed settings to achieve poor, the speed control using pulse