A novel approach to modeling and identifying the double loop DC motor driving system in soccer robots

Yonglong Li; Zushu Li; Jun Li; Niu Wang

doi:10.1117/12.784470

9 January 2008 A novel approach to modeling and identifying the double loop DC motor driving system in soccer robots

Yonglong Li, Zushu Li, Jun Li, Niu Wang

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67941Y (2008) https://doi.org/10.1117/12.784470
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

Using double loop DC motor drive system (DLM) of the RoboCup middle size robots as research subject, the model of DLM has been reduced to a simple state space one by the "quasi-equivalent" modeling method, based on the characteristic analysis of the system. Further, the parameters of the model can be exactly identified applying the improved genetic algorithm. The results of compared experiment proved that using this model and identification ways can get a reasonably structural and high parameters precision model. The model can describe the DLM to design the control system for robot soccer.

Citation Download Citation

Yonglong Li, Zushu Li, Jun Li, and Niu Wang "A novel approach to modeling and identifying the double loop DC motor driving system in soccer robots", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67941Y (9 January 2008); https://doi.org/10.1117/12.784470

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available