基于工业传感器信息融合的矿井巡检机器人越障动作稳定控制  

Stability Control of Mine Inspection Robot Obstacle Surmounting Based on Industrial Sensor Information Fusion

作　　者：陈宁 CHEN Ning(China Coal Technology and Engineering Group Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006 [2]煤矿采掘装备国家工程实验室,山西太原030006

出　　处：《机械与电子》2023年第6期60-65,共6页Machinery & Electronics

基　　金：山西天地煤机装备有限公司科研项目(M2022-ZD06)。

摘　　要：为了提高巡检机器人在矿井下的越障动作稳定性,结合工业传感器信息融合技术,设计矿井巡检机器人越障动作稳定控制方法。首先构建履带巡检机器人在矿井下的动力学建模,分析其动力学特征;然后依据Grubbs检验法筛选工业传感器采集数据,剔除异常数据,提升数据质量,再利用数据贴近度这一属性,融合多传感数据信息;构建基于前馈控制器和PID神经网络辨识器的机器人控制模型,实现矿井巡检机器人越障动作实时稳定控制。实验结果表明,所提方法控制下机器人永磁同步电动机转速和转矩波动较小、动态能量稳定性值较大,提高了矿井下巡检机器人越障动作稳定性。In order to improve the stability of the inspection robot in the mine,a stable control method of the inspection robot in the mine is designed based on the industrial sensor information fusion technology.Firstly,the dynamic model of the crawler inspection robot under the mine is built,and its dynamic characteristics are analyzed.Then,according to Grubbs test method,the data collected by industrial sensors are screened,abnormal data are eliminated,and data quality is improved.Then,the attribute of data closeness is used to fuse multi sensor data information.A robot control model based on feedforward controller and PID neural network identifier is constructed to realize real time and stable control of obstacle surmounting action of mine inspection robot.The experimental results show that under the control of this method,the speed and torque of the robot’s permanent magnet synchronous motor fluctuate less,and the dynamic energy stability value is larger,which improves the obstacle surmounting action stability of the underground inspection robot.

关 键 词：传感器信息融合 矿井巡检机器人 越障动作 稳定控制 前馈控制器 PID神经网络辨识器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]