基于STM32嵌入式系统的电机驱动控制与可靠性分析
发布时间：2018-11-08 20:12
【摘要】：电机驱动系统是轮式移动机器人实现定位、导航和路径规划的关键,它是一个典型的嵌入式系统,由于其工作环境及用途的特殊性对可靠性的要求很高。开展嵌入式系统可靠性研究,对提高电机驱动系统及移动机器人系统的可靠性水平很有必要。论文以某型移动服务机器人的电机驱动系统为研究对象,开展了基于STM32的电机驱动系统的控制策略研究及嵌入式系统的可靠性分析研究。在控制策略研究方面,通过以STM32为核心的电机驱动系统的硬件和软件设计,进行电机PID控制算法的研究以及控制系统的建模仿真。在系统可靠性研究方面,通过对控制系统的可靠性预计和蒙特卡罗仿真,进行基于故障树分析法和贝叶斯网络方法的可靠性分析。论文的主要研究工作如下:(1)基于STM32的移动机器人电机驱动系统的设计实现。从移动机器人电机控制系统设计要求和系统原理出发,搭建以STM32为控制核心的嵌入式电机驱动系统硬件平台,并应用模块化编程方法完成该平台的控制主程序和功能子程序设计。(2)基于PID控制的电机驱动系统控制方法与策略研究。从移动机器人电机驱动系统控制方法的比较分析入手,通过基于速度环和电流环的双闭环策略及控制器设计,以及基于PID双闭环控制算法的Matlab/Simulink的仿真建模,讨论不同控制策略对小功率直流电机驱动控制系统的影响情况。(3)基于失效概率量化的驱动系统可靠性预计及蒙特卡罗仿真分析。从电机驱动控制系统中的不确定性问题和可靠性建模出发,通过选择可靠性预计方法和工具,以及系统模型简化和模块划分,采用应力分析法和Telcodia SR-332预计手册对电机驱动系统进行可靠性预计和蒙特卡罗仿真研究。(4)综合功能失效分析和软硬件实施的电机驱动系统可靠性分析。从电机驱动系统功能失效模式和失效因素分析出发,基于软硬件结合的系统可靠性建模思想,构建电机驱动系统的故障树模型和贝叶斯网络模型并进行可靠性分析,同时提出提高移动机器人电机驱动系统可靠性的措施。
[Abstract]:Motor drive system is the key to position, navigation and path planning of wheeled mobile robot. It is a typical embedded system, which requires high reliability due to the particularity of its working environment and application. It is necessary to improve the reliability of motor drive system and mobile robot system. Taking the motor drive system of a certain mobile service robot as the research object, the control strategy of the motor drive system based on STM32 and the reliability analysis of the embedded system are studied in this paper. In the aspect of control strategy research, through the hardware and software design of motor drive system based on STM32, the research of motor PID control algorithm and the modeling and simulation of control system are carried out. In the research of system reliability, the reliability analysis based on fault tree analysis and Bayesian network method is carried out through the reliability prediction and Monte Carlo simulation of the control system. The main work of this paper is as follows: (1) the design and implementation of the motor drive system of mobile robot based on STM32. Based on the design requirements and system principle of the motor control system of mobile robot, the hardware platform of embedded motor drive system based on STM32 is built. Modular programming method is used to design the main control program and functional subroutine of the platform. (2) the control method and strategy of motor drive system based on PID control are studied. Starting with the comparative analysis of the control methods of the motor drive system of the mobile robot, the design of the dual closed loop strategy and controller based on the speed loop and the current loop, and the simulation model of the Matlab/Simulink based on the PID double closed loop control algorithm are presented. The influence of different control strategies on the drive control system of low power DC motor is discussed. (3) the reliability prediction and Monte Carlo simulation analysis of drive system based on failure probability quantization. Based on the uncertainty problem and reliability modeling in motor drive control system, the reliability prediction methods and tools are selected, and the system model is simplified and module partitioned. The reliability prediction and Monte Carlo simulation of motor drive system are carried out by using stress analysis method and Telcodia SR-332 prediction manual. (4) Comprehensive function failure analysis and reliability analysis of motor drive system implemented by hardware and software. Based on the analysis of failure mode and failure factors of motor drive system, the fault tree model and Bayesian network model of motor drive system are constructed based on the idea of system reliability modeling combined with software and hardware, and the reliability analysis is carried out. At the same time, the measures to improve the reliability of the motor drive system of the mobile robot are put forward.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM301.2
本文编号：2319556
[Abstract]:Motor drive system is the key to position, navigation and path planning of wheeled mobile robot. It is a typical embedded system, which requires high reliability due to the particularity of its working environment and application. It is necessary to improve the reliability of motor drive system and mobile robot system. Taking the motor drive system of a certain mobile service robot as the research object, the control strategy of the motor drive system based on STM32 and the reliability analysis of the embedded system are studied in this paper. In the aspect of control strategy research, through the hardware and software design of motor drive system based on STM32, the research of motor PID control algorithm and the modeling and simulation of control system are carried out. In the research of system reliability, the reliability analysis based on fault tree analysis and Bayesian network method is carried out through the reliability prediction and Monte Carlo simulation of the control system. The main work of this paper is as follows: (1) the design and implementation of the motor drive system of mobile robot based on STM32. Based on the design requirements and system principle of the motor control system of mobile robot, the hardware platform of embedded motor drive system based on STM32 is built. Modular programming method is used to design the main control program and functional subroutine of the platform. (2) the control method and strategy of motor drive system based on PID control are studied. Starting with the comparative analysis of the control methods of the motor drive system of the mobile robot, the design of the dual closed loop strategy and controller based on the speed loop and the current loop, and the simulation model of the Matlab/Simulink based on the PID double closed loop control algorithm are presented. The influence of different control strategies on the drive control system of low power DC motor is discussed. (3) the reliability prediction and Monte Carlo simulation analysis of drive system based on failure probability quantization. Based on the uncertainty problem and reliability modeling in motor drive control system, the reliability prediction methods and tools are selected, and the system model is simplified and module partitioned. The reliability prediction and Monte Carlo simulation of motor drive system are carried out by using stress analysis method and Telcodia SR-332 prediction manual. (4) Comprehensive function failure analysis and reliability analysis of motor drive system implemented by hardware and software. Based on the analysis of failure mode and failure factors of motor drive system, the fault tree model and Bayesian network model of motor drive system are constructed based on the idea of system reliability modeling combined with software and hardware, and the reliability analysis is carried out. At the same time, the measures to improve the reliability of the motor drive system of the mobile robot are put forward.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM301.2
【引证文献】
相关期刊论文 前1条
1 廖伟强;曾庆华;;康复机器人肌电刺激控制系统的研究与设计[J];科技视界;2018年02期
，本文编号：2319556
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