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.
作者
孙瑞
谭秀芬
SUN Rui;TAN Xiufen(College of Automation&Electronic Engineering,Qingdao University of Science&Technology,Shandong Qingdao 266100,China;Library,Qingdao University of Science&Technology,Shandong Qingdao 266100,China)
出处
《工业仪表与自动化装置》
2019年第1期119-122,126,共5页
Industrial Instrumentation & Automation
关键词
巡检机器人
运动控制
电机调速
滑膜控制
inspection robot
motion control
motor speed regulation
synovial control
