移動(dòng)機(jī)器人的導(dǎo)航控制研究

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摘要 移動(dòng)機(jī)器人是機(jī)器人學(xué)中的一個(gè)重要分支，具有廣闊的發(fā)展前景，尤其是野外環(huán)境下的移動(dòng)機(jī)器人，廣泛地應(yīng)用到工業(yè)、農(nóng)業(yè)、偵查、探測、軍事、搜救等特殊場合。其中，農(nóng)業(yè)車輛自主導(dǎo)航技術(shù)的使用可有效提高農(nóng)業(yè)機(jī)械的生產(chǎn)率和作業(yè)精度，減輕操作人員的勞動(dòng)強(qiáng)度。目前利用GPS定位技術(shù)進(jìn)行農(nóng)業(yè)機(jī)器人自主導(dǎo)航研究變得越來越廣泛、成熟。
本課題結(jié)合北京博創(chuàng)興盛機(jī)器人技術(shù)有限公司的全地形、全天候智能移動(dòng)機(jī)器人“旅行家IV”平臺與上海華測導(dǎo)航技術(shù)有限公司的高精度雙頻RTK-GPS，以Visual C++ 6.0為開發(fā)平臺，將GPS與姿態(tài)方位參考系統(tǒng)(AHRS)相結(jié)合，通過對變結(jié)構(gòu)抗飽和PID控制進(jìn)行分析，進(jìn)行機(jī)器人自主導(dǎo)航控制研究。本論文主要研究內(nèi)容如下：
首先，介紹了北京博創(chuàng)興盛科技有限公司Voyager IV機(jī)器人的機(jī)構(gòu)、組成，對機(jī)器人的性能、主要模塊進(jìn)行了簡要的說明。同時(shí)，還分析了上海華測導(dǎo)航技術(shù)有限公司的RTK GPS X300 的系統(tǒng)組成與工作原理，著重介紹了GPS定位原理及系統(tǒng)工作模式?；赩isual C++ 6.0為開發(fā)平臺，通過串口通訊實(shí)現(xiàn)了上海華測的GPS配置與數(shù)據(jù)解析獲取。
其次，對GPS、AHRS和地圖組成的導(dǎo)航方案進(jìn)行了介紹，并詳細(xì)分析了AHRS的工作原理、磁場干擾以及AHRS校正原理與方法。
最后，利用變結(jié)構(gòu)切換方法來解決PID控制器積分飽和現(xiàn)象。在導(dǎo)航系統(tǒng)出現(xiàn)較大的姿態(tài)誤差情況下，傳統(tǒng)的PID控制出現(xiàn)嚴(yán)重飽和，超調(diào)增大，系統(tǒng)出現(xiàn)不穩(wěn)定現(xiàn)象，采用自適應(yīng)變化率實(shí)現(xiàn)自適應(yīng)調(diào)整積分項(xiàng)的PID控制算法，有效抑制了控制器過飽和問題。提高了導(dǎo)航精度與控制精度，用仿真與試驗(yàn)進(jìn)行了驗(yàn)證。
關(guān)鍵詞：移動(dòng)機(jī)器人 導(dǎo)航 GPS 抗飽和PID


Abstract The mobile robot is an important branch of robotics, and has a bright future especially in the field environment. It has been widely used in industry, agriculture, investigation, detection, military, search, rescue and other special occasions. Among them, the use of the autonomous navigation technology of agricultural vehicles can effectively improve the productivity and operating precision of agricultural machinery and reduce the labor intensity. Currently, the use of GPS technology in agricultural research autonomous robot navigation is becoming increasingly widespread and mature.
The subject combines all-terrain and all-weather mobile robot ’Voyager IV’ platform of Beijing Bochuang Xingsheng Robot Technology Co., Ltd and the high-precision dual-frequency RTK-GPS of Shanghai Huace Navigation Technology Co., Ltd, with Visual C + + 6.0 development platform. The GPS position and attitude reference system (AHRS) are combined and research the control of autonomous robot navigation by analyzing anti-saturation of variable structure PID control. The main contents are as follows:
Firstly, it describes the institutions and composition of Voyager IV researched and developed by Beijing Bochuang Xingsheng Robot Technology Co., Ltd. The performance of the robot and the main modules are briefly described.It also analyzes the system composition and working principle of RTK GPS X300 researched and developed by Shanghai Huace Navigation Technology Co. Ltd, focusing on the GPS positioning principle and system operation. Obtain Shanghai Huace GPS configuration and data analysis via serial communication based on Visual C + + 6.0 development platform.
Secondly, This article introduces the navigation scheme of GPS, AHRS and map and a detailed analysis of working principle of AHRS, also illustrates the situation of AHRS interfered by magnetic fields, and provides the debugging method of AHRS.
Finally, it uses variable structure switching method to solve the PID controller windup phenomenon. In the case of a larger attitude error in the navigation system, the traditional PID control severe saturation overshoot increases and system instability occurs, the rate of change to achieve adaptive PID integral term adaptive control algorithm, effectively inhibited control over saturation, and effectively restrain interference and integral saturation and proved by experiments and MATLAB simulation.
Keywords mobile robot navigation GPS anti-windup PID


目 錄
第一章 緒論 1
1.1引言 1
1.1.1研究背景 1
1.2.1研究意義 2
1.2 國內(nèi)外研究現(xiàn)狀 3
1.2.1國外研究成果及現(xiàn)狀 3
1.2.2國內(nèi)研究成果及現(xiàn)狀 7
1.3 論文研究內(nèi)容 9
第二章 移動(dòng)機(jī)器人研究平臺介紹 10
2.1 Voyager IV移動(dòng)機(jī)器人平臺 10
2.1.1平臺概述 10
2.1.2系統(tǒng)結(jié)構(gòu) 11
2.2 X300 GNSS系統(tǒng) 13
2.2.1 GPS系統(tǒng)與原理 13
2.2.2 X300系統(tǒng)概述 17
2.3 姿態(tài)模塊 19
2.4 本章小結(jié) 20
第三章 GPS/AHRS導(dǎo)航方案設(shè)計(jì) 22
3.1 方案介紹 22
3.2 GPS數(shù)據(jù) 24
3.2.1 GPS定位信息 24
3.2.2 GPS設(shè)備配置 24
3.2.3 GPS數(shù)據(jù)解析 26
3.3 AHRS數(shù)據(jù) 29
3.3.1 AHRS工作原理 29
3.3.2 磁場干擾與校準(zhǔn) 31
3.3.3 AHRS校正 32
3.3.4 AHRS通訊協(xié)議 35
3.3.5 AHRS數(shù)據(jù)獲取 36
3.4 導(dǎo)航地圖建立 37
3.4.1 衛(wèi)星地圖創(chuàng)建 38
3.4.2 全圖解析 38
3.4.3 航姿信息顯示 40
3.5 本章小結(jié) 41
第四章 抗飽和PID控制系統(tǒng)實(shí)現(xiàn) 42
4.1 引言 42
4.2 抗飽和控制系統(tǒng)的設(shè)計(jì)方法研究概況 43
4.3 抗飽和VSPID控制器設(shè)計(jì) 44
4.4 抗飽和VSPID控制器仿真與分析 46
4.5 實(shí)驗(yàn)結(jié)果 48
4.6 本章小結(jié) 49
結(jié)論 50
致 謝 51..