探测履带车控制系统设计与实现

发布时间：2018-01-03 04:40

本文关键词：探测履带车控制系统设计与实现　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：探测履带车由于可以适应较为复杂的地表环境,因此在社会服务、工业生产、军事等领域得到了广泛应用。本文研究了一种探测履带车控制系统的设计方法,基于ARM控制器和Linux操作系统搭建了其探测模块,以PIC单片机为CPU构建了其移动控制模块,并利用设计的PC监控终端对整个系统进行了调试验证。本文所完成的主要工作如下:(1)根据系统的具体应用需求,给出了探测履带车控制系统的总体设计方案,分析了其中的探测模块、移动控制模块、PC监控终端的功能需求和基本设计方法。(2)在特定的ARM嵌入式开发板上移植了 Linux操作系统,完成了基于Linux操作系统的视频采集和传输功能的软件设计,实现了探测模块与PC监控终端之间的视频传输功能,并给出了相应的PC监控终端的界面设计方法。(3)给出了移动控制模块的软硬件设计方案,分析了电机驱动/控制的硬件电路设计方法,以及基于C语言的移动控制模块软件开发流程,重点介绍了通信接口模块、运动控制策略、双闭环控制的程序设计方法。(4)设计了利用多探测履带车进行目标定位时的路径规划算法,以定位精度为目标函数,控制多个探测履带车进行协同探测,保证任意时刻得到的定位数据均为最优值。(5)介绍了探测履带车控制系统的调试情况,并针对调试过程中出现的一些问题,给出了相应的改进方法。最后,对本文进行了总结,并提出了一些后期的改进意见。
[Abstract]:Detection of tracked vehicle because it can adapt to complex surface environment, so in the social services, industrial production, military and other fields has been widely used. This paper studies a tracked vehicle detection control system design method, ARM controller and Linux operating system to build the detection module based on PIC microcontroller as the construction of the mobile CPU the control module, and debugging the system verification using PC monitoring terminal design. The main work of this paper are as follows: (1) according to the application requirements of the system, gives the overall design scheme of tracked vehicle detection control system, analyzed the detection module, motion control module, function requirements of PC monitoring the terminal and the basic design methods. (2) transplanted Linux operating system on the ARM embedded development board, completed the video acquisition and transmission function based on Linux operating system software The design and implementation of video transmission function between the detection module and the PC terminal, and gives the design method of PC interface monitoring terminal (3). The corresponding hardware and software design of mobile control module is given, analyzed the design method of hardware circuit of the motor control and drive / control module based on mobile software development process C language, introduced the communication interface module, motion control strategy, the program design method of double closed-loop control. (4) designed a path planning algorithm for target detection tracked vehicle positioning, the positioning accuracy as objective function, control of the collaborative detection of multiple tracked vehicle detection, the positioning data of any time to get all the optimal value. (5) the detection track vehicle control system debugging, and for some of the problems in the debugging process, gives the corresponding improvement methods. Finally, the A summary of the article is made and some later suggestions for improvement are put forward.

【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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