北京航空航天大学学报 ›› 2005, Vol. 31 ›› Issue (07): 775-779.

• 论文 • 上一篇    下一篇

微小型机器人嵌入式自驾仪设计

王松1, 李新军2, 梁建宏1, 蒲立1   

  1. 1. 北京航空航天大学 机械工程及自动化学院, 北京 100083;
    2. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100083
  • 收稿日期:2004-10-30 出版日期:2005-07-31 发布日期:2010-09-21
  • 作者简介:王 松(1979-),男,河南驻马店人,博士生, wsongking@126.com.
  • 基金资助:

    国防基础研究项目(J1300C1004); 国家863基金资助项目(2004AA420110)

Embedded autopilot design of micro-robots

Wang Song1, Li Xinjun2, Liang Jianhong1, Pu Li1   

  1. 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2004-10-30 Online:2005-07-31 Published:2010-09-21

摘要: 分析了不同类型微小型机器人对自驾系统的共性需求.提出了一种基于ARM(Advanced RISC Microprocessor)和μCOS-II的嵌入式自驾仪设计方法,给出了从需求分析、功能设计、结构设计、硬件设计、软件设计的系统设计过程,并分别从上述各方面对自驾仪的通用性进行了探讨.层次化的体系结构、模块化的硬件、结构化的软件以及无精确模型的模糊控制方法使得设计出的自驾仪经过简单的硬件调整和软件定制,就能适用于仿生机器鱼、履带机器人、小型无人机等不同的微小型机器人平台.经过多次试验验证,该自驾仪性能稳定、具有一定的通用性,弥补了专用自驾仪在多元异构群体中应用时的成本高、协调控制困难、兼容性和维护性差等不足.

Abstract: The autopilot requirement of different micro-robots was analyzed. A method of autopilot based on advanced RISC microprocessor (ARM) and μCOS-II was put forward. The design process was presented from requirement analysis, function design, system structure, hardware design and software design, to control algorithm, and the autopilot for all-purpose was discussed from each aspect above. The autopilot adopted hiberarchy structure, modular hardware and structured software, and fuzzy control method needless of accurate model, which made it easy to apply to bionic fish robot, tracked mobile robot and micro unmanned vehicle after simple hardware adjustment and software customization. The autopilot was validated that it has the advantage of stabilization and currency through experiments. The autopilot makes up for the shortage of high cost, control difficulty and bad compatibility and maintenance while it was applied to the multiple and isomeric micro-robots swarm.

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