会员注册 | 登录 | 微信快捷登录 QQ登录 微博登录 | 帮助中心 人人文库renrendoc.com美如初恋!
站内搜索 百度文库

热门搜索: 直缝焊接机 矿井提升机 循环球式转向器图纸 机器人手爪发展史 管道机器人dwg 动平衡试验台设计

外文翻译--一种全方位移动机器人的控制设计 英文版.pdf外文翻译--一种全方位移动机器人的控制设计 英文版.pdf -- 5 元

宽屏显示 收藏 分享

页面加载中... ... 广告 0 秒后退出

资源预览需要最新版本的Flash Player支持。
您尚未安装或版本过低,建议您

AbstractAmobilelaboratorywasdevelopedforstudentsoftheECE5320MechatronicsandECE7750DistributedControlSystemscoursesatUtahStateUniversity.Aserialserverwasconnectedtotheembeddedcontrollerofastandalone3axesroboticwheelassembly.Thisenabledcommunicationbetweenthewheelandanyinternetenabledcomputer.AtelepresencecontrolsystemandaprototypenetworkedcontrolsystemNCSweredevelopedandtested.Thissystemwassuitablymodifiedtoaccommodatetheneedsofthecourselaboratories,therebyenablingstudentstodesign,debugandtesttheirlaboratoryprojectsinrealtimeattheirchosentimeandlocations.Afullyfunctionaldemonstrationofthisremotelaboratoryisavailablefromhttp//www.csois.usu.edu/people/smartwheel/CompleteInfoPage.htmI.INTRODUCTIONAPIDstridesintheuseoftelepresencesystemsfordistancelearningandremoteexperimentationpurposeshaveresultedthroughproliferationoftheInternet,advancesinmobilecommunicationstechnologyandavailabilityofhighspeedcomputers.ThesedevelopmentshavealsogreatlybenefitedthefieldofControlSystemseducationandproprietaryplatformslikeNationalInstrumentsLabVIEW1andQuansersWinconhavebeenusedinteachinglaboratories.TheDepartmentofElectricalComputerEngineeringatUtahStateUniversityoffersagraduatelevelcourseinDistributedControlSystems2.Thiscoursedealswiththedesign,implementationandstabilityissuesinnetworkedcontrolsystems,wirelesssensornetworks,anddistributedparametersystems.ThedepartmentalsooffersacourseinMechatronics3,whichdealswiththeprinciples,interfacing,andsignalconditioningofmotionsensorsandactuators,themodeling,analysis,andidentificationofdiscretetimesystems,andManuscriptreceivedSeptember14,2005.YangQuanChenisActingDirector,CenterforSelfOrganizingandIntelligentSystems,andAssistantProfessor,DepartmentofElectricalandComputerEngineering,UtahStateUniversity,Logan,UT84322USAphone4357970148fax4357973054emailyqchenece.usu.edu.BharathRamaswamywasGraduateResearchAssistantatCenterforSelfOrganizingandIntelligentSystems,DepartmentofElectricalandComputerEngineering,UtahStateUniversity,Logan,UT84322USA.HeisnowEngineeratQualcommIncorporated,SanDiego,CA92121USAemailbharath.ramaswamyqualcomm.com.KevinMoorewasDirector,CenterforSelfOrganizingandIntelligentSystems,UtahStateUniversity,Logan,UT84322USA.HeisnowtheG.A.DobelmanDistinguishedChairandProfessorofEngineering,DivisionofEngineering,ColoradoSchoolofMines,GoldenCO80401USAemailkmooremines.edu.digitalcontrollerdesignmethods.ThispaperdescribesalowcostremotelaboratorysolutiondevelopedatUtahStateUniversityfortheMechatronicsandDistributedControlSystemscourses.Thepaperisorganizedintoeightsections.SectionIIaddressestheneedforaremotelaboratoryfromapedagogicalperspective.SectionIIIgivesbackgroundinformationontheSmartWheelsystemwhichistheplanttobecontrolledduringthelaboratorysessions.SectionIVprovidestheobjectivesandoverallstructureofthecourselaboratory.SectionVdescribesthehardwareandsoftwarearchitectureofthesystem.SectionVIprovidesdetailsonhowastudentofthecoursecanperformthelaboratoryonthego.Finally,SectionVIIandSectionVIIIsummarizetheresultsandoutlinesfutureprojectgoals.II.PEDAGOGICALMOTIVATIONItisimperativethatengineeringcoursesespeciallythoseintheareaofcontrolsystemsincludeahandsonlaboratorycomponenttoextendtheclassroomexperience.However,thesetup,operationandmaintenanceoflaboratoryequipmentbecomeresourceintensive,timeconsumingandexpensive.Virtuallaboratoriesofferacosteffectivealternativehowevertheyoftenfailtomodelthepracticaleffects,andcannotsubstituteforexperiencewiththerealsystem.Remotelaboratoriesofferdistinctadvantagesoverconventionalandvirtuallaboratories.Apartfromcostreduction,moreefficientusageoflaboratoryequipment,reducedmaintenance,flexibleandselfpacedlearning,thereistheabilitytogivestudentsthesamekindofexperiencetheywouldordinarilyobtaininatraditionallaboratorysettingwithuseofversatile,realworldequipment.AremotelearningapplicationcalledSecondBesttoBeingThereSBBTwasdevelopedatOregonStateUniversity4.Thissolutionincorporatesseveralfeaturessuchasdatacollectionfacility,livevideoandaudiostreaming,safetyandstabilitymeasures,regulationofaccess,andcollaborationsupportallofwhichmaketheremotelaboratoryapleasantandimmersiveexperienceforthestudent.III.PLANTBACKGROUNDINFORMATIONTheCenterforSelfOrganizingandIntelligentSystemsOmnidirectionalRoboticWheelAMobileRealTimeControlSystemsLaboratoryBharathRamaswamy,YangQuanChenandKevinMooreRProceedingsofthe2006AmericanControlConferenceMinneapolis,Minnesota,USA,June1416,2006WeI21.51424402107/06/20.00©2006IEEE719CSOISatUtahStateUniversityhasdesignedanddevelopedseveralprototyperoboticvehiclesbasedonakeyenablingconceptcalledtheSmartWheel.Itisaselfcontainedroboticwheelmodulewith3independentaxesnamelythesteeringaxis,thedriveaxis,andthezaxis.Whenmultiplesmartwheelsareattachedtoachassis,theresultingvehicleiscalledanomnidirectionalvehicle5.CSOIShasastandalonesmartwheelassemblyshowninfig.1equippedwithsteeringanddrivemotors,alinearactuatorforzaxismovement,drivecircuitryforthemotorsandactuator,encodersfordriveandsteeringfeedback,amicrocontroller,andapowerdistributionunit.Thesmartwheelassemblywasmodifiedandaugmentedforuseinthetwocoursesmentioned.Theintendedoutcomesweretoenablestudentstodesignandtesttheirowncontrollersforthesteeringanddriveaxesofthewheel.Theassemblyalsodoublesupasademonstrationsystem6toshowcasethecapabilitiesofthesmartwheeltovisitors,insituandvisitorstotheCSOISwebsite.IV.SYSTEMOVERVIEWA.IntroductiontotheLaboratorySincebothcoursesmentionedearlierincludeastudyofnetworkedcontrolsystemsatvaryinglevels,itwasnecessarytodevelopalaboratorycomponentinordertoaugmenttheclassroomtheory.Anetworkedcontrolsystemisafeedbackcontrolsysteminwhichthecontrolloopisclosedthroughacommunicationnetwork7.Itisimperativethatremoteexperimentationbeusedforthislaboratory.Inthiscase,theplantandfeedbacksensorissituatedinsidetheuniversitysresearchcenter,thecontrollerislocatedontheremotestudentscomputer,andthecommunicationnetworkistheIPnetworkbetweentheplant/sensorandthecontroller.However,dedicatedequipmentforsuchaspecializedlaboratoryisexpensiveandplanningandinstallationistimeconsuming.Alowcostsolution,inwhichaserialserverwasusedtomakethesmartwheelassemblyteleoperable,wasconceivedandimplemented.B.DistributedControlSystemsDesignLaboratoryInthiscourse,thestudentisexpectedtodesignandtestanetworkedcontrolsystemforthesteeringaxisofthesmartwheel.TheserialportRS232onthesmartwheelsembeddedcontrollerwasconnectedtoanEthernetHubviaaSerialServer,whichtranslatesmessagesbetweenEthernetandRS232formats.Themicrocontrolleronthewheelwasprogrammedtopollthepositionencoderandtransmitthesevaluesthroughitsserialport.ItalsoacceptsvelocityvaluesviatheserialportandconvertsitintopulsewidthmodulatedPWMsignalstodrivethemotor.ThestudentwiththeInternetenabledcomputeratanyremotelocationwillinstallavirtualCOMdriver,inordertocommunicatewiththesmartwheelsserialserver.Hecandevelophiscontrollerprogramonthecomputer,whichwilltransmitvelocityvaluestothesmartwheel,calculatedbasedontheencoderreadingsreceivedfromthesmartwheel.TheInternetintroducesrandomtimedelaysandperturbations.Thesenetworkinducedeffectsneedtobetakenintoconsiderationwhiledesigningthecontroller,throughtheuseofsuitabletechniquessuchasnetworkpredictionanddelaycompensation.Theperformanceofthecontrolsystemcanbeexamined,byparsingandplottingtheencoderdataontheremotecomputer.Anywindowsbasedenvironmentmaybeusedfordevelopment.Fig.2showstheuserinterfaceforaprototypenetworkedcontrolsystemimplementedforthesteeringaxisofthesmartwheeldevelopedinVisualBasic.ThesetpointsteeringangleandcontrollergainsPIDcontrollerareuserselectableandtheusercanviewthesystemperformancebyobservingtheangularpositionplotthatappearsinrealtimeonthegraphicaldisplay.AnInternetcamerastreaminglivevideoandaudioenablesthestudenttoviewandhearthewheelmotioninrealtimeonthecontrolpanel.C.MechatronicsDesignProjectLaboratorySincethisisacourseattheundergraduatelevel,thestudentscandesignandtestsimplePIDnetworkedcontrollersforthesteeringanddriveaxesontheirinternetenabledcomputers,butwithoutconsideringnetworkinducedeffectsintotheirdesign.ItisproposedtoextendtheuseofthesmartwheelassemblyfortheMechatronicscourseintheyear2006.Fig.1.SmartWheelAssemblyonaMobileRig.720D.DemonstrationSystemThemicrocontrolleronthesmartwheelalsohasitsownsetofcontrolalgorithmsforthesteering,driveandzaxes.Inthiscase,themicrocontrolleracceptssetpointsfromapairofjoysticksortheremotecomputerforeachofthethreeaxesandcontrolsthewheelaccordingtoitsonboardcontrolprogram.ThisfeatureenablesthecapabilitiesofthewheeltobeshowcasedtovisitorsinsituandvisitorstotheCSOISwebsitewhenthewheelisnotbeingusedforthecourselaboratories.Fig.3showstheuserinterfaceforthesmartwheelstelepresencecontrolsystem.Suitablehandshaking,controlandarbitrationprotocolscoordinatebetweenjoystick,telepresenceandnetworkedcontrolmodes,andalsoensurepredictablebehaviorwhenmultipleusersattempttoaccessthesystem.V.SYSTEMDESCRIPTIONA.ArchitectureThearchitectureofthestandalonesmartwheeldemonstrationsystem6isshowninfig.4.Thesteeringmotor,drivemotor,andlinearactuatorcontrolthesteeringaxis,driveaxis,andzaxisofthesmartwheel,respectively.ThesteeringanddrivemotorsarecontrolledbyPWManddirectionsignalsfromtheirrespectivemotordrivers.Thesteeringmotoriscoupledtoanabsoluteencoder,whichmeasurestheabsoluteangularpositionofthewheel.Thedrivemotorisattachedtoaquadratureencoderthatmeasurestherelativemotionofthewheel.Thelinearactuatormovestheentiresteeringcolumnupordownalongthelinearslide.Thelinearpotentiometerprovidesfeedbackaboutthezpositionofthesteeringcolumn.ThezaxiscontrolboxcommandsthelinearactuatorbasedonthevoltagevaluefromthedigitaltoanalogconverterDACandthefeedbackfromthelinearpotentiometer.ThewheelnodedigitalinterfaceboardconsistsoftheTattletaleModel8TT8,amicrocontrollerbyOnsetComputerCorporation8basedonMotorolasMC68332microprocessor.Italsoprovidesinterfacesforserialcommunication,motordrivers,DAC,absoluteandquadratureencoders,circuitsforpowersupplyandregulation,levelshifting,andopticalisolation,andthehardwarewatchdogunit.Thesteeringanddrivemotorsareeachdrivenbya50A8DDSeriesPWMservoamplifierormotordriverfromAdvancedMotionControls.ThedutycycleofthepulsewidthmodulatedPWMsignalsdeterminesthespeedofthemotorandlogiclevelofthedirectionsignaldeterminesthedirectionofrotation.Fig.2.ScreenshotofthePrototypeNetworkedControlSystemApplication.Fig.4.SmartWheelSystemOverview.Fig.3.ScreenshotoftheTelepresenceControlSystemApplication.721Twojoystickshavebeenprovidedinordertoenablevisitorstocontrolthe3axesofthewheelinsitu.Duringthistime,thesystemissaidtobeinJoystickmode.OneofthemJoystick1isa3axisjoystickwhereinthexaxisisusedtosetthedrivespeedandthetwistaxisisusedtosetthesteeringspeed.AnothersingleaxisjoystickJoystick2isusedtosetthezaxisposition.Theremoteoperatorcommunicateswiththesmartwheelthroughadeviceknownastheserialserver,whichconvertsmessagesfromRS232formatintoEthernetformatandviceversa.TheDE311serialserverfromMoxaTechnologieswasselectedforuseinthesystem9onaccountofitslowcost,easytoinstallsoftwaredrivers,andthroughput50bpsto230.4Kbps.ADLinkDCS5300Internetcamera10locatednearthesmartwheelassemblydirectlysendsstreamingvideoupto30fpsat640480resolutionandaudioofthesmartwheelmotiontotheremoteoperator.Itallowsupto20userstoviewthelabactivitywhileonlyoneofthemisinteractingwiththeplant.TheremoteoperatorcancommunicatewiththesystemeitherinTelepresencemode,duringwhichtheonboardcontrolalgorithmonthewheelcontrolsthe3axesofthewheelbasedonsetpointsreceivedfromtheremotecomputerorinNetworkedControlSystemLaboratorymode,duringwhichthecontrolalgorithmontheremotecomputercommandsthewheelsaxesbasedonsampledencodefeedbackreadingsreceivedfromthemicrocontrolleronthewheel.B.MechanicalHardwareDescriptionAcrosssectionalviewofthesmartwheelassemblywithoutzaxisactuatorfeaturesisshowninfig.5.Thesteeringsuspensionsupportstheentiresteeringmechanismandwheelelectronicsystems.Thesteeringspindleisdirectlycoupledtothesteeringmotor.Theyokefastensthedriveassemblytothesteeringspindle.Theyokealsohousesthepowerandcommunicationscables,whichgodowntothewheel.Acustomslipringallowsinfiniterotationofthewheelaboutthesteeringaxis.Theentiredriveassemblyincludingthedrivespindle,motor,failsafebrake,andencoderisenclosedinsidethewheelshell.ThedrivemotorisaKollmorgenmodelQT6407framelesstorquermotorandthesteeringmotorisaMicroMoseriesGNM5440PMDCmotor.ACP560quadratureencoderfromComputerOpticalProductsisusedtomeasurerelativewheelposition.TheabsoluteencoderusedtomeasureabsoluteangularpositionofthesteeringmotorinbodyfixedcoordinatesisaModel40HfromSequentialElectronicSystems.Zaxisactuationcapabilitywasaddedbymountingtheassemblyshowninfig.5onanElectraklinearactuatorfromWarnerElectric.Alinearpotentiometerismountedadjacenttothelinearactuatornearthetop.Thepowerdistributionunitsareenclosedbehindthedamper.Acontrolboxforthezaxismovementismountedononesideofthepowerdistributionunithousing.Thewheelelectronicsandmotordriversaremountedoneithersideofthesteeringcolumn.Theentireassemblyismountedonawheeledstand.Refertofig.1againtoseeacompletepictureofthesystem.C.SoftwareDescriptionSoftwareforthestandalonesmartwheeldemonstrationsystemcomprisesthefollowingEmbeddedsoftwareontheTT8microcontrollerboard.VideoandaudiobufferingandstreamingsoftwareontheInternetcameraswebserver.EmbeddedsoftwareontheserialservertoperformconversionofmessagesbetweenEthernetandRS232formats.VirtualCOMdriverthatallowscommunicationbetweenthestudentsremotecomputerandtheserialserver.ApplicationsoftwareforNetworkedControlofthesmartwheelsaxesonthestudentscomputer.Thesoftwarearchitectureofthesystemisdepictedinfig.6.Ofthese,theVirtualCOMdriverMoxatech.,theserialFig.6.SmartWheelSoftwareArchitecture.Fig.5.SmartWheelMechanicalAssembly.722
编号:201311171523066803    大小:282.61KB    格式:PDF    上传时间:2013-11-17
  【编辑】
5
关 键 词:
教育专区 外文翻译 精品文档 外文翻译
温馨提示:
1: 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供交流平台,并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
  人人文库网所有资源均是用户自行上传分享,仅供网友学习交流,未经上传用户书面授权,请勿作他用。
0条评论

还可以输入200字符

暂无评论,赶快抢占沙发吧。

当前资源信息

4.0
 
(2人评价)
浏览:46次
英文资料库上传于2013-11-17

官方联系方式

客服手机:17625900360   
2:不支持迅雷下载,请使用浏览器下载   
3:不支持QQ浏览器下载,请用其他浏览器   
4:下载后的文档和图纸-无水印   
5:文档经过压缩,下载后原文更清晰   

相关资源

相关资源

相关搜索

教育专区   外文翻译   精品文档   外文翻译  
关于我们 - 网站声明 - 网站地图 - 友情链接 - 网站客服客服 - 联系我们
[email protected] 2015-2017 人人文库网网站版权所有
苏ICP备12009002号-5