井下探测机器人设计与探测追踪算法研究  

Design of the Underground Mine Detection Robot and Research on Detective Tracking Algorithm

作　　者：关丙火 郭亭亭[2] GUAN Binghuo;GUO Tingting(Guoneng Shendong Coal Group Corporation Limited,Shenmu,Shaanxi 719315,China;Ocean University of China,Qingdao,Shandong 266109,China)

机构地区：[1]国能神东煤炭集团有限责任公司,陕西神木市719315 [2]中国海洋大学,山东青岛市266109

出　　处：《矿业研究与开发》2022年第6期160-165,共6页Mining Research and Development

基　　金：国家重点研发计划资助项目(2017YFC0804302)。

摘　　要：针对井下探测机器人在移动作业过程中因云台追踪系统受内外扰动而导致的目标追踪速度慢、超调震荡大和鲁棒性弱等问题,在研制井下探测机器人及云台追踪系统的基础上,设计了适用于云台追踪系统的自抗扰控制算法。考虑到控制器的扩张状态观测器的观测负担过重的问题,对机器人摆臂系统与机器人俯仰姿态关系进行了建模研究。将该模型作为已知信息补偿至扩张状态观测器中,提出模型补偿的自抗扰控制器(MC-ADRC)。最后,对云台追踪系统进行了对比试验,结果表明,与传统的PID和ADRC相比,MC-ADRC可使追踪系统的超调量更小、调节时间缩短且鲁棒性能更好,进一步提升了井下机器人快速目标追踪探测性能。The pan/tilt/zoom(PTZ) tracking system suffer the internal and external disturbance in moving operation, resluting in poor tracking accuracy, overshoot, and weak robustness. In order to solve above problems, an active disturbance rejection control(ADRC) algorithm for PTZ tracking system was designed based on the development of underground mine detection robot and PTZ tracking system. Considering the observation burden of the extended state observer(ESO) in the controller, the relationship between the swing arm system and the pitching attitude of the robot was modeled and studied. Then, the model was compensated into the ESO as the known information, and the model compensated active disturbance rejection controller(MC-ADRC) was proposed. Finally, comparative tests were carried out on PTZ tracking system. The results show that, MC-ADRC can reduce the overshoot of tracking system, shorten the adjustment time and improve the robustness compared with the traditional PID and ADRC, and then further improve the fast target tracking and detection performance of underground mine robot.

关 键 词：井下机器人 云台追踪 模型补偿 自抗扰控制 

分 类 号：TD77[矿业工程—矿井通风与安全]