井下履带式探测机器人研发与运动抗扰控制研究
Development and Research on the Active Disturbance Control for the Underground Crawler Detection Robot
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摘要: 针对当前井下矿灾后探测和救援难题,本文研发了面向复杂地面环境的六摆臂履带式探测机器人。首先对机器人整机结构,尤其是移动底盘进行了整体结构设计,分析了机器人典型作业的工况参数。其次,针对机器人在复杂地面的高效运动控制问题,设计了机器人控制系统的驱动方案。在机器人运动驱动系统上,对两侧履带驱动的永磁同步电机(PMSM)进行了数学建模和磁场定向控制研究(FOC)。针对传统直接转矩控制系统存在抗干扰性能弱、磁链脉动大等缺点,设计了基于自抗扰的速度环控制和基于PI控制器的电流环控制算法,用以提升电机扰动抑制能力和快速运动性能。最后与双PI环的算法进行了对比试验验证,试验结果表明:采用抗扰控制算法的机器人PMSM系统的运动响应快速无超调、抗干扰能力更强,能有效提升机器人运动的爬坡越障性能和作业稳定性。Abstract: Aiming at the current disaster detection and rescue problems in underground mines, this paper proposed a six-swing arm crawler detection robot for complex ground environments. Firstly, the overall structure of the robot's structure was designed, especially for the mobile chassis, and the working condition parameters of the robot's typical operations were analyzed subsequently. Secondly, aiming at the problem of efficient motion control of the robot on complex ground, the driving scheme of the robot control system was designed creatively. Thirdly, the permanent magnet synchronous motor (PMSM) driven by the crawler on both sides has been mathematically modeled and the field oriented control (FOC) was researched in the robot motion drive system. Moreover, aiming at the shortcomings of traditional direct torque control system such as weak anti-interference performance and large flux pulsation, the speed loop control based on active-disturbance rejection control (ADRC) and the current loop control algorithm based on Proportional integral control (PI) controller were designed to improve the ability of motor disturbance suppression, fast speed and the sports performance. Finally, it was verified by a comparative test with the algorithm of the double PI loop. The test results shown that the motion response of the PMSM system of the robot by using the ADRC algorithm is more fast, without overshoot, and has stronger anti-interference ability, which can effectively improve both of the ability of the climbing obstacles, and the stable operational stability for the robot.
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Key words:
- Underground detection robot /
- working condition analysis /
- PMSM /
- FOC /
- ADRC
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