【摘要】：電機驅(qū)動系統(tǒng)是輪式移動機器人實現(xiàn)定位、導航和路徑規(guī)劃的關(guān)鍵,它是一個典型的嵌入式系統(tǒng),由于其工作環(huán)境及用途的特殊性對可靠性的要求很高。開展嵌入式系統(tǒng)可靠性研究,對提高電機驅(qū)動系統(tǒng)及移動機器人系統(tǒng)的可靠性水平很有必要。論文以某型移動服務(wù)機器人的電機驅(qū)動系統(tǒng)為研究對象,開展了基于STM32的電機驅(qū)動系統(tǒng)的控制策略研究及嵌入式系統(tǒng)的可靠性分析研究。在控制策略研究方面,通過以STM32為核心的電機驅(qū)動系統(tǒng)的硬件和軟件設(shè)計,進行電機PID控制算法的研究以及控制系統(tǒng)的建模仿真。在系統(tǒng)可靠性研究方面,通過對控制系統(tǒng)的可靠性預(yù)計和蒙特卡羅仿真,進行基于故障樹分析法和貝葉斯網(wǎng)絡(luò)方法的可靠性分析。論文的主要研究工作如下:(1)基于STM32的移動機器人電機驅(qū)動系統(tǒng)的設(shè)計實現(xiàn)。從移動機器人電機控制系統(tǒng)設(shè)計要求和系統(tǒng)原理出發(fā),搭建以STM32為控制核心的嵌入式電機驅(qū)動系統(tǒng)硬件平臺,并應(yīng)用模塊化編程方法完成該平臺的控制主程序和功能子程序設(shè)計。(2)基于PID控制的電機驅(qū)動系統(tǒng)控制方法與策略研究。從移動機器人電機驅(qū)動系統(tǒng)控制方法的比較分析入手,通過基于速度環(huán)和電流環(huán)的雙閉環(huán)策略及控制器設(shè)計,以及基于PID雙閉環(huán)控制算法的Matlab/Simulink的仿真建模,討論不同控制策略對小功率直流電機驅(qū)動控制系統(tǒng)的影響情況。(3)基于失效概率量化的驅(qū)動系統(tǒng)可靠性預(yù)計及蒙特卡羅仿真分析。從電機驅(qū)動控制系統(tǒng)中的不確定性問題和可靠性建模出發(fā),通過選擇可靠性預(yù)計方法和工具,以及系統(tǒng)模型簡化和模塊劃分,采用應(yīng)力分析法和Telcodia SR-332預(yù)計手冊對電機驅(qū)動系統(tǒng)進行可靠性預(yù)計和蒙特卡羅仿真研究。(4)綜合功能失效分析和軟硬件實施的電機驅(qū)動系統(tǒng)可靠性分析。從電機驅(qū)動系統(tǒng)功能失效模式和失效因素分析出發(fā),基于軟硬件結(jié)合的系統(tǒng)可靠性建模思想,構(gòu)建電機驅(qū)動系統(tǒng)的故障樹模型和貝葉斯網(wǎng)絡(luò)模型并進行可靠性分析,同時提出提高移動機器人電機驅(qū)動系統(tǒng)可靠性的措施。
[Abstract]:Motor drive system is the key to position, navigation and path planning of wheeled mobile robot. It is a typical embedded system, which requires high reliability due to the particularity of its working environment and application. It is necessary to improve the reliability of motor drive system and mobile robot system. Taking the motor drive system of a certain mobile service robot as the research object, the control strategy of the motor drive system based on STM32 and the reliability analysis of the embedded system are studied in this paper. In the aspect of control strategy research, through the hardware and software design of motor drive system based on STM32, the research of motor PID control algorithm and the modeling and simulation of control system are carried out. In the research of system reliability, the reliability analysis based on fault tree analysis and Bayesian network method is carried out through the reliability prediction and Monte Carlo simulation of the control system. The main work of this paper is as follows: (1) the design and implementation of the motor drive system of mobile robot based on STM32. Based on the design requirements and system principle of the motor control system of mobile robot, the hardware platform of embedded motor drive system based on STM32 is built. Modular programming method is used to design the main control program and functional subroutine of the platform. (2) the control method and strategy of motor drive system based on PID control are studied. Starting with the comparative analysis of the control methods of the motor drive system of the mobile robot, the design of the dual closed loop strategy and controller based on the speed loop and the current loop, and the simulation model of the Matlab/Simulink based on the PID double closed loop control algorithm are presented. The influence of different control strategies on the drive control system of low power DC motor is discussed. (3) the reliability prediction and Monte Carlo simulation analysis of drive system based on failure probability quantization. Based on the uncertainty problem and reliability modeling in motor drive control system, the reliability prediction methods and tools are selected, and the system model is simplified and module partitioned. The reliability prediction and Monte Carlo simulation of motor drive system are carried out by using stress analysis method and Telcodia SR-332 prediction manual. (4) Comprehensive function failure analysis and reliability analysis of motor drive system implemented by hardware and software. Based on the analysis of failure mode and failure factors of motor drive system, the fault tree model and Bayesian network model of motor drive system are constructed based on the idea of system reliability modeling combined with software and hardware, and the reliability analysis is carried out. At the same time, the measures to improve the reliability of the motor drive system of the mobile robot are put forward.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM301.2

【引證文獻】

相關(guān)期刊論文 前1條

1 廖偉強;曾慶華;;康復機器人肌電刺激控制系統(tǒng)的研究與設(shè)計[J];科技視界;2018年02期

，

本文編號：2319556