机器人移动平台二次调节电液驱动及智能控制系统的设计  

Design of Intelligent Control System and the Secondary Regulation Electro-hydraulic Drive System for Robot Mobile Platform

作　　者：臧发业[1] ZANG Faye(Research Institute of Mechanical&Electrical Technology,Shandong Jiaotong University,Jinan Shandong 250357,China)

机构地区：[1]山东交通学院机电工程研究所,山东济南250357

出　　处：《机床与液压》2021年第10期81-84,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(61773015)。

摘　　要：将二次调节静液传动技术应用到大负载机器人移动平台中,设计了移动平台二次调节电液驱动系统的3种结构。采用智能防倾覆技术、基于CAN总线的通信和控制技术、路径规划及主动避障技术、多传感器信息融合技术等,设计了移动平台的智能控制系统,可实现移动平台的自主控制、自主导航和自主定位,及能量的回收与再利用,减少了移动平台的装机功率。该移动平台适合在野外高速、大负载的工况下工作,承载大、牵引能力强。Secondary regulation hydrostatic transmission technology was applied to the mobile platform of the heavy load robot.Three structures of the secondary regulation electro-hydraulic drive system for the mobile platform were designed.By using intelligent anti-capsize technology of the mobile platform, communication and control technology based on CAN trunk, path planning and active obstacle avoidance technology, multi-sensor information fusion technology, an intelligent control system of the mobile platform was designed, by which the autonomous control, autonomous navigation and autonomous positioning of the mobile platform could be realized, as well as the energy recovery and reuse, and the installed power of the mobile platform was reduced.The mobile platform is suitable for high speed and heavy load in the field, with large load bearing capacity and strong traction capacity.

关 键 词：机器人移动平台 二次调节 电液驱动系统 智能控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]