管道清淤机器人协调运动控制系统的设计  

Design on Coordinated Motion Control System of Pipe Dredging Robot

作　　者：罗继曼 戴璐璐 印辉 刘择明 LUO Jiman;DAI Lulu;YIN Hui;LIU Zeming(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang,China,110168)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2021年第3期556-562,共7页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家自然科学基金项目(62003226);辽宁省自然科学基金项目(201602620)。

摘　　要：目的为增强管道清淤机器人运动的协调性和可控性,设计管道清淤机器人的协调运动控制系统,并针对多电机协同运动控制提出一种基于偏差耦合协调控制策略,实现轮式行走机构驱动电机的自适应控制。方法通过分析管道清淤机器人运动状态,自动修正机器人的运动姿态,进而完成机器人两个动力装置之间的协调运动控制;根据确定的控制算法和控制系统结构,利用Simulink进行系统仿真分析。结果行走单元的三组电机同步性好,在其中一个电机受到扰动时,由于三组电机的耦合关系,另外两组可以很快跟随其变化,达到同步稳定运行状态;经过实验验证:该管道清淤机器人运行状态良好,具有良好的运动协调性。结论笔者设计的协调运动控制系统可以达到机器人的控制要求。In order to improve the coordination and controllability of the pipe dredging robot action,it is necessary to design the coordinated motion control system of the pipe dredging robot.To realize the self-adjusting control of the wheeled drive motor,a method of multi-motor coordinated motion control based on the bias coupling coordinated control strategy was proposed.Then,self-correction and self-adjustment of the robot′s running posture were realized by analyzing and judging the driving state of the robot.Thereby the coordinated motion control between the wheel mechanism and the stepping pushing mechanism was realized.Next,perform system simulation was analyzed based on the two power plants.According to the simulation results by Simulink,it showed that the three groups of motors in the walking unit have good synchronism.When one of the motors is disturbed,due to the coupling relationship,the two motors can follow the change quickly,so a synchronous stable operation state was reached.Finally,the experimental results showed that the pipeline dredging robot has good running condition and good motion coordination.The coordinated motion control system meets the design requirements.

关 键 词：多电机同步 管道清淤机器人 协调运动控制 运动协调性 

分 类 号：TU689[建筑科学—建筑技术科学] TP241[自动化与计算机技术—检测技术与自动化装置]