基于多轮驱动同步控制系统的矿用巡检机器人设计  

Design of Mine Inspection Robot Based on Multi Driving Wheels Synchronous Control System

作　　者：秦伟 陈湘源 张海峰 Qin Wei;Chen Xiangyuan;Zhang Haifeng(Chongqing Research Institute,China Coal Technology and Engineering Group,Chongqing 400039,China;Yulin Shenhua Energy Co.,Ltd.,Yulin 719000,China)

机构地区：[1]中煤科工集团重庆研究院有限公司,重庆400039 [2]榆林神华能源有限责任公司,陕西榆林719000

出　　处：《煤矿机械》2023年第8期1-5,共5页Coal Mine Machinery

基　　金：中煤科工集团重庆研究院有限公司科技创新项目(DXBCT-2018012)。

摘　　要：针对煤矿巡检机器人多轮驱动同步控制的需求,提出一种基于CANopen通信协议的四电机同步控制方法。根据巡检机器人控制系统的设计指标,选用ECi52直流伺服电机以及EPOS4驱动器,设计了以ARM Cortex-A8处理器为核心的机器人同步控制系统软、硬件模块。系统控制程序基于Linux操作系统,利用多线程并发执行技术,通过有名管道和消息队列进行线程间的数据通信,保证了控制的可靠性与实时性。现场应用表明:系统软件运行可靠,基于CANopen通信协议的四电机同步控制系统实现了巡检机器人的同步控制,满足设计要求。Aiming at the requirement of synchronous control when the coal mine inspection robot was driven by multiple wheel,proposesd four motors synchronous control method based on CANopen communication protocol.According to the design index of the inspection robot control system,the ECi52 DC servo motor and EPOS4 driver were selected to design the software and hardware modules of the robot synchronous control system based on ARM Cortex-A8 processor.Based on the Linux operating system,the system control program adopt multithreading concurrent execution technology,and the data communication between threads was carried out through the famous pipeline and message queue to ensure the reliability and real-time of controlling.The field application shows that the system software runs reliably.The four motors synchronous control system based on CANopen communication protocol achieves the synchronous control of the inspection robot and meets the design requirements.

关 键 词：巡检机器人 CANOPEN 多轮驱动 同步控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]