基于滑膜控制的井下巡检机器人运动控制系统设计
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摘要
随着煤矿生产自动化水平的提高,井下巡检机器人将逐渐替代人工巡检成为矿山生产巡检的新手段。该文研究了井下巡检机器人运动控制系统,以意法半导体STM32F429IGT6控制芯片最小系统为基础,设计了本安电源供电电路及电机驱动系统电路,保证了系统供电的安全性,实现了机器人在巡检过程中能够长期处于安全稳定运动状态下。该设计引入新型趋近律的滑膜控制算法作为运动控制系统电机控制策略,通过建立基于滑膜控制器的电机调速控制模型进行仿真验证,获得了良好的控制性能。
With the improvement of the automation level of coal mine production,downhole patrol robots will gradually replace the manual inspection to become a new method for mine production inspection. This paper studies the motion control system of downhole patrol robots. Based on STMicroelectronics STM32F429IGT6 control chip minimum system,the intrinsically safe power supply circuit and the motor drive system circuit are designed to ensure the safety of the system power supply and realize the robot patrol. During the inspection process,it can be in a safe and stable state of movement for a long period of time. This system design introduces the synovial membrane control algorithm as the motor control strategy of the motion control system. Through establishing the motor speed control model based on the sliding membrane controller to carry out simulation verification,the good control performance is obtained.
With the improvement of the automation level of coal mine production,downhole patrol robots will gradually replace the manual inspection to become a new method for mine production inspection. This paper studies the motion control system of downhole patrol robots. Based on STMicroelectronics STM32F429IGT6 control chip minimum system,the intrinsically safe power supply circuit and the motor drive system circuit are designed to ensure the safety of the system power supply and realize the robot patrol. During the inspection process,it can be in a safe and stable state of movement for a long period of time. This system design introduces the synovial membrane control algorithm as the motor control strategy of the motion control system. Through establishing the motor speed control model based on the sliding membrane controller to carry out simulation verification,the good control performance is obtained.
引文
[1]商德勇.薄煤层综采工作面巡检机器人运动分析及试验研究[D].北京:中国矿业大学(北京),2016.
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[12]崔茂振,张昌凡,朱剑.永磁同步电机滑模调速控制及其实现[J].电子测量与仪器学报,2012,26(01):84-92.
[13]张鹏.基于滑模控制器的永磁同步电机调速控制系统研究与应用[D].南昌:华东交通大学,2014.
[14]王贇贇,文建刚,李建民,等.组合滑膜控制的鲁棒性研究[J].现代电子技术,2017,40(05):115-117.
[15]李爱平,邓海洋,徐立云.基于模糊PID的永磁同步电机矢量控制仿真[J].中国工程机械学报,2013,11(01):25-30+40.
[2]裴文良,周明静,李军伟.综合管廊智能巡检机器人的设计[J].制造业自动化,2017,39(01):91-93.
[3]裴文良,张树生,岑强,等.轨道式巡检机器人系统设计与应用[J].煤矿机械,2016,37(06):142-144.
[4]高青,冯李军,张鹏.智能巡检机器人的研究[J].电气时代,2012(04):74-76.
[5]李祥,崔昊杨,皮凯云,等.基于STM32的变电站巡检机器人系统设计[J].现代电子技术,2017,40(17):150-153+157.
[6]井超超.轮式机器人运动系统设计与研究[D].西安:西安电子科技大学,2012.
[7]谭菊华,王东波,刘桥.基于FPGA控制的悬挂运动控制系统设计[J].现代电子技术,2009,32(13):119-122.
[8]周亚夫,许辰雨.矿用本安电源保护电路的优化设计[J].中国煤炭,2015,41(01):70-72.
[9]周雪峰.一种新型矿用本安电源保护电路的设计[J].工矿自动化,2013,39(07):101-103.
[10]于金鹏.基于多DSP的智能机器人运动控制系统的研究[D].济南:山东大学,2005.
[11]李玉娟.基于STM32的变电站巡检机器人运动控制系统设计与实现[D].成都:西南交通大学,2013.
[12]崔茂振,张昌凡,朱剑.永磁同步电机滑模调速控制及其实现[J].电子测量与仪器学报,2012,26(01):84-92.
[13]张鹏.基于滑模控制器的永磁同步电机调速控制系统研究与应用[D].南昌:华东交通大学,2014.
[14]王贇贇,文建刚,李建民,等.组合滑膜控制的鲁棒性研究[J].现代电子技术,2017,40(05):115-117.
[15]李爱平,邓海洋,徐立云.基于模糊PID的永磁同步电机矢量控制仿真[J].中国工程机械学报,2013,11(01):25-30+40.