煤矿用机器人超速及失稳保护控制系统设计  

System of Overspeed and Instability Protection Control for Coal Mine Robot

作　　者：郭长娜 Guo Changna(CCTEG Fushun Testing Center Co.,Ltd.,Fushun 113122,China;CCTEG Shenyang Research Institute Co.,Ltd.,Fushun 113122,China;State Key Laboratory of Coal Mine Safety Technology,Fushun 113122,China)

机构地区：[1]抚顺中煤科工检测中心有限公司,辽宁抚顺113122 [2]中煤科工集团沈阳研究院有限公司,辽宁抚顺113122 [3]煤矿安全技术国家重点实验室,辽宁抚顺113122

出　　处：《煤矿机械》2024年第9期5-8,共4页Coal Mine Machinery

基　　金：国家自然科学基金面上项目(52274159)。

摘　　要：为实现煤矿井下颠簸路况下机器人安全制动,设计了一种煤矿用机器人超速、失稳保护控制系统。该系统包括传感器检测单元、制动控制单元和核心控制器。传感器检测单元包括姿态检测传感器和转速传感器,姿态检测传感器用于实时检测机器人的俯仰角度,转速传感器用于实时检测机器人驱动电机的转动速度;制动控制单元包括驱动控制器和电磁制动器,驱动控制器用于控制机器人驱动电机的启停和转速;电磁制动器与驱动电机输出轴联接,电磁制动器由核心控制器进行控制,当机器人失稳或超速时驱动控制器控制驱动电机制动;当机器人超速严重时电磁制动器投入使用将驱动电机制动,双重制动方案确保机器人在超速、失稳状态下能够停车。In order to realize robot safety braking under bumpy road conditions underground in coal mine,designed a system of overspeed and instability protection control for coal mine robot.The system includes sensor detection unit,brake control unit,and core controller.The sensor detection unit includes attitude detection sensors and speed sensors,attitude detection sensor is used for real-time detection of robot pitch angle,and speed sensor is used for real-time detection of the rotational speed of robot drive motors.The brake control unit includes a drive controller and an electromagnetic brake,the drive controller is used to control the start stop and speed of the robot′s drive motor.Electromagnetic brake connects drive motor output shaft,the electromagnetic brake is controlled by the core controller,when the robot loses stability or exceeds speed,the driving controller controls the braking of the driving motor.When the robot exceeds the speed limit severely,the electromagnetic brake is put into use to brake the drive motor,the dual braking scheme ensures that the robot can stop in overspeed and unstable states.

关 键 词：超速失稳 姿态传感器 转速传感器 制动控制单元 双重制动 

分 类 号：TD67[矿业工程—矿山机电]