The Design and Implementation of RoboCup Small-size Robot Control System

The hardware platform used in studying multi-agent design and realization by Tsinghua RoboCup group is introduced.A speed-current double-closed-loop control system without speed sensor for micro drag cup DC motor is mainly studied,and the simple and effective motor control method and motor parameter measurement method are put forward.Furthermore,the advantages and shortcomings in using current inner-loop are contrastively discussed and analysed.Finally the total control procedure and system optimization adopted in control are described.