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1、上海交通大学硕士学位论文移动机器人嵌入式实时控制系统的设计与开发姓名：李渊申请学位级别：硕士专业：机械电子工程指导教师：言勇华20060101上海交通大学硕士学位论文满足移动机器人的实时控制要求是一种可行的移动机器人实时控制系统的低成本解决方案为嵌入式实时系统在移动机器人控制系统的进一步研究奠定了基础关键词实时性嵌入式系统控制系统移动机器人第II页上海交通大学硕士学位论文TheDesignandDevelopmentofEmbeddedRealTimeControllingSystemforMobileRobotAbstrac
2、tWiththeadvancementofmodernindustrytechnology,Robotshavebeencomprehensivelyappliedinindustry,healthcare,military,OA,familyentertainmentetc.While,wheeledmobilerobotisoneofthehottopicsinthisfieldatpresent.Meanwhile,theintensivedevelopmentofmicro-electronicsprovidessta
3、te-of-the-artembeddedmicro-processorwithhighperformance.Inordertosolvetheproblemsconcernedinrobotsapplicationssuchasvolumn,powerconsumption,cost,realtimeperformanceetc,thisdissertationbuildsanembeddedcontrollingplatformformobilerobtswith32-bitembeddedmicro-processor
4、andembeddedrealtimeoperatingsystemFirstofall,thisdissertationintroducesoverallschemeofthemobilerobot,includemechanicstructureandschemeofcontrollingsystem,sincethecontrolledobjectoftheembeddedcontrollingsystemconcernedinthisdissertationconcentratesonmobilerobots.Afte
5、rsettlingontheoverallscheme,majorsub-modulesofembeddedcontrolleraredesignedaccordingtomobilerobotwithbasicautonomouslyguidedfunction,includingmastercontrollerbasedonS3C44bOX,motioncontrolmodule,Ultra-sonicdetectingmodule,autonomouslyguidedmodule,wirelessconmmunicati
6、onmodule.Onthebasisofhardwareplatform,embeddedrealtimesystemuC/OS-IIisported.Besides,severalissuesandIRQanddriverdesignsuniqueinrealtimeOSuC/OS-IIhavebeendiscussed.SinceIRQdesignisquitecriticalinrealtimesystem,thisdissertationelaboratesonIRQdesignandgivesadetailedde
7、mo.Afterbuildingthecontrollingsystemplatform,thestructureofsoftwarebasedonuC/OS-IIisdiscussed.Usingstructureddevelopingmethod,controllingsoftwarewithbasicfunctionsfortheselfguidedRoboticsisdesigned.Inthepartofrealtimeperformanceandstabilityanalysis,firstly,an第III页上海
8、交通大学硕士学位论文idealanalyingmodelismadebasedonthisembeddedcontrollingplatform.Afterwards,theoreticalanalysisandexperimentvalidationisillustrate
