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全自主足球机器人运动控制系统的研制

于 2022-03-11 发布 文件大小:7.48 MB
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资源描述在Matlab.Simulink环境下对机器人的运动控制系统进行建模和仿真分析,详细 阐述了在Matlab.Simulink环境下建立各仿真模型的步骤,测试Fuzzy.BPNN.PID复 合控制电机调速算法以及基于速度补偿控制器的四轮解耦算法的可行性。最终在以 $3C2440A和4块dsPIC为控制芯片的硬件平台上对控制算法进行了嵌入式实现,并 通过实物实验表明机器人能够较为快速、精确、可靠地跟随期望轨迹,完全能满足 全自主机器人足球比赛的要求。

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