Modeling of motion control system for the soccer robot
He, Shilei (2013)
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In recent years, Robocup competition has shown great activities in high-tech field. With the development of the soccer robot, it is necessary and convenient for people to simulate the motion situation of robot. Therefore, this thesis builds a simulation model of motion control system for botnia soccer robot (robocup small size league robot) with MATLAB/Simulink. The entire thesis consists of 5 parts: 1) Background study; 2) Motor and drive system modeling; 3) Velocity distribution and composition; 4) Robot displacement modeling; 5) Testing and result. Moreover, the motion control system uses three closed-loop controls: speed loop controlled by PID controller, current loop adjusted by current hysteresis regulator and position feedback detected by hall sensors, which implement the accuracy of the whole system. During the testing, the result shows the right motion regular according to the setting velocity. Therefore, based on the coincidence of the simulation results and theory analysis, we can draw the conclusion that the whole modeling system can support the simulation of the soccer robot motion control. Besides, it develops an advanced design and a debugging scheme for the real soccer robot motion control system.