摘要
在實際控制系統(tǒng)時，常常會碰到一些系統(tǒng)需要大量的實驗和不斷嘗試才能達到很好的控制效果。這種控制方式帶有大量的主觀性，同時這些系統(tǒng)很難用具體的數(shù)學模型來描述。對它們的控制方法是從人的生活經(jīng)驗中得到的，而經(jīng)典控制理論則無能為力。因此如何設(shè)計行之有效的定性與定量的轉(zhuǎn)換模型（控制器）就成為擺在專家學者面前的重要課題。云模型是一種新興的用于模擬人類思維中存在的不確定性智能的轉(zhuǎn)換模型。它是用語言值表示的某個定性概念與其定量表示之間的不確定性轉(zhuǎn)換模型，用以反映自然語言中概念的不確定性。該理論從提出至今,主要以理論研究和仿真實驗為主。如何運用云模型理論實現(xiàn)對系統(tǒng)的控制已經(jīng)成為云模型理論研究的重點。針對云模型理論的研究現(xiàn)狀，本文提出了通過單片機實現(xiàn)云模型控制器的設(shè)計方法，應(yīng)用該方法設(shè)計的云模型控制器實現(xiàn)對輪式機器人避障控制系統(tǒng)的控制。本論文主要工作包括：
1) 介紹了課題的研究背景和本研究工作的意義；概述輪式機器人、云模型控制理論和微控制器的歷史和現(xiàn)狀；介紹了云模型的基本理論，包括云模型發(fā)生器的構(gòu)造和工作原理。
2) 根據(jù)避障要求設(shè)計輪式機器人控制系統(tǒng)。設(shè)計搭建系統(tǒng)硬件平臺，系統(tǒng)主要包括控制板，驅(qū)動電機，測距傳感器，電源模塊等。
3) 根據(jù)避障要求，設(shè)計輪式機器人避障策略。建立云模型規(guī)則庫，根據(jù)人的控制經(jīng)驗設(shè)計對應(yīng)的速度云模型控制器和轉(zhuǎn)向云模型控制器的設(shè)計。
4) 最后通過一系列的避障實驗驗證了所設(shè)計的云模型控制器是合理的，為今后云模型控制器設(shè)計提供了一定的參考。
5) 對全文工作進行了總結(jié)，指出了今后的研究方向。

關(guān)鍵詞：云模型；避障控制；輪式機器人；單片機







Abstract
In practice applications, we often encounter some systems which need a lot of experimentation and constantly trying to achieve good control effect. This control method with a lot of subjectivity, and these systems are difficult to use a specific mathematical model to describe. Way of control them is to get people's life experience, but the classical control theory is powerless. How to design effective conversion model (controller) of qualitative and quantitative has become an important subject which placed in front of experts and scholars. The cloud model is a novel conversion model, and used to simulate uncertainty intelligence of human thinking. Cloud model which use the language value to express, is an uncertainty conversion model between a qualitative concept and its quantitative conversion. It is used to reflect the uncertainty of the concept in natural language. so far, this theory is studied in theoretical and simulation-based. how quickly and easily to design effective and reliable cloud model controller has become the focus. For research of the cloud model theory, this paper based on previous study results, The cloud controller designed method is proposed baseing on SCM. and the cloud model controller is applied to wheeled robot obstacle avoidance control system. The main work includes:
(1) Describe the research background and significance of this research work; overview of wheeled robots, cloud model control theory and the history and development of micro-controller; explained the main contents of this article. Introduced the basic theory of cloud model.
(2) Design the robot's hardware system, including the motor, distance sensors, power supply and so on.
(3) According to the system, designed the wheeled robot obstacle avoidance strategy. Established the rule base of cloud model, and designed the controller of speed-cloud model and the controller of turn-cloud model based on the human control experience .
(4) Finally a series of wheeled robot obstacle avoidance experimental, proved effective and scientific of the design. the cloud model controller designed method provide some reference for the future provide some reference.
(5) Picture is drawn in the last chapter and the research directions in this field for the future are also indicated in this part.
Key words cloud model; obstacle avoidance control; wheeled robot; SCM


目 錄
摘要 I
Abstract I
第1章 緒論 1
1.1 研究背景和意義 1
1.2 輪式機器人避障控制系統(tǒng)概述 1
1.2.1 輪式機器人發(fā)展現(xiàn)狀 1
1.2.2 避障算法的發(fā)展現(xiàn)狀 2
1.3 云模型理論概述 3
1.3.1云模型理論的建立 3
1.3.2 云模型研究現(xiàn)狀 4
1.4 微控制器的發(fā)展概述 5
1.5 論文的內(nèi)容與結(jié)構(gòu) 6
第2章 云模型 7
2.1 引言 7
2.2 云模型概念 7
2.2.1 云模型的基本定義 7
2.2.2 云模型的數(shù)字特征 8
2.2.3 云模型的3En規(guī)則 10
2.3云模型發(fā)生器 11
2.3.1 正向云模型發(fā)生器 12
2.3.2 逆向云模型發(fā)生器 12
2.3.3 條件云模型發(fā)生器 13
2.4 云模型的不確定性推理 15
2.4.1 單規(guī)則推理 15
2.4.2 多規(guī)則推理 16
2.5 小結(jié) 18
第3章 輪式機器人系統(tǒng)設(shè)計 19
3.1 引言 19
3.2 輪式機器人硬件系統(tǒng) 19
3.2.1 機械結(jié)構(gòu) 19
3.2.2 超聲波模塊介紹 20
3.2.3 電機控制模塊介紹 20
3.3 單片機系統(tǒng)設(shè)計 21
3.3.1 單片機系統(tǒng)整體設(shè)計及思想 21
3.3.2 控制器C8051F340介紹 22
3.3.3 單片機系統(tǒng)電源設(shè)計 23
3.3.4 C2調(diào)試接口 23
3.3.5 串口設(shè)計 24
3.4 系統(tǒng)功能軟件設(shè)計 24
3.4.1 超聲波測距軟件設(shè)計 24
3.4.2 電機控制軟件設(shè)計 26
3.5 小結(jié) 28
第4章 避障控制系統(tǒng)設(shè)計 29
4.1 引言 29
4.2 避障策略設(shè)計 29
4.2.1 障礙物信息分類 29
4.2.2 避障行為設(shè)計..