基于模糊控制的井下无人运输机车控制系统设计

Design of control system of underground unmanned transportation locomotive based on fuzzy control

针对现有井下运输机车的控制采用人员驾驶手动纠偏的方法,存在较大误差且易发生危险的问题,设计了基于模糊控制的井下无人运输机车控制系统。该系统采用模糊控制技术,利用STM32F10单片机作为主控模块,变频器作为执行机构,通过控制电动机转速,达到速率调控、刹车和避障的目的;该系统利用上位监控系统实时监控运输机车,实现了井下运输机车的无人化和智能化,提高了井下生产的安全性。

In view of problems of big error and easy to fall into danger that control of existing underground transportation locomotive adopted manual correction method by driver,a control system of underground unmanned transportation locomotive based on fuzzy control was designed.The system uses fuzzy control technology,adopts STM32F10single-chip microcomputer as main control module,frequencyconverter as actuators,so as to control motor speed,and achieves the goal of rate control,brake and obstacle avoidance.Meanwhile,the system can use the upper monitoring system to real-timely monitor transportation locomotive,implements unmanned and intelligentialize for the underground transportation locomotive,and improves the safety of mine production.