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The Research of Micro Soccer Robot Servo Control Real-Time Simulation System

XU Xin-he

Abstract

Based on dSPACE real-time simulation technology,the servo control simulation system of micro soccer robot was designed by applying modeling methods of MATLAB/Simulink system and environment of dSPACE system software and hardware.Actual controlled object-soccer robot was placed inside the simulation loop for simulation study.By watching system running,adjusting control parameters on line,testing dynamic system performance,identifying soccer robot model with tested experiment data,the satisfactory control result was achieved.Simulation result approves the system is a very good research platform.

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Available abstract

Key concepts: DSPACE, Simulation, MATLAB, Robot, Soccer robot, Servomechanism, Control system, Engineering