基于Simulink的管道疏浚机器人控制系统研究

Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering Pub Date : 1900-01-01 DOI:10.5220/0008480803290335

Jiman Luo, L. Dai

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引用次数: 0

摘要

为了更精确地控制新型疏浚机器人，保证机器人在恶劣环境下的稳定运行，设计了机器人的运动控制系统，研究了基于PI算法的轮式机构行走单元双闭环速度控制系统。通过Simulink仿真和上述控制方法的实验表明，在负载变化的干扰下，电机转速可以稳定在设定的转速值，且动态性能稳定。最后，采用了抗负载波动能力强的双闭环调速系统。该控制方法满足了机器人在复杂环境下的工作条件要求，实现了对机器人运动状态的精确控制。

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The Research on Control System of Pipeline Dredging Robot based on Simulink

In order to control the new pipe dredging robot more accurately and ensure the stable operation of the robot in the harsh environment, the motion control system of the robot is designed and the PI algorithm based on double closed-loop speed control system for walking unit of wheeled mechanism is studied. According to the Simulations by Simulink and experimentations of the above control methods, it was indicated that the motor speed can be stabilized at the set speed value under the disturbance of load change, and the dynamic performance is also stable. Finally, a double closed-loop speed control system with strong anti-load fluctuation capability is adopted. The control method satisfied the requirements of the working condition of the robot in a complex environment and realized that the precise control of the motion state of the robot.

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来源期刊

Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering

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