基于Hamiltonian和最小值定理的矿井搜救探测机器人驱动系统最小能耗研究

Research on minimum energy consumption for mine rescue detection robot drive system based on hamiltonian and minimum value theorem

研究了矿井搜救探测机器人最小能耗的控制问题。针对直流伺服电机和减速齿轮驱动下的六足机器人关节,在非线性摩擦条件下,利用Hamiltonian和最小值理论,建立了驱动系统的最优速度和最优控制电流模型,明确了加减速转换时间与最优速度和最优控制电流之间的关系。通过MATLAB仿真,获得不同加减速转换时间的速度轮廓和控制电流,从而得出加减速转换时间为T/2时,驱动系统的速度轮廓和控制电流最优,为矿井搜救探测机器人驱动系统伺服电机运行时间的设定提供依据。

The objective of this study was the control problem of minimum energy consumption about mine rescue detection robot. The optimal velocity model and the optimal current model of drive system under the condition of the nonlinear friction were established using Hamiltonian and minimum theory aimed at hexapod robot joints driven by DC servo motor and reduction gear. The relationships between deceleration conversion time and optimal velocity, deceleration conversion time and the optimal control current were defined. The different acceleration and deceleration The velocity profile and control current were obtained in different acceleration and deceleration using MATLAB. When the acceleration and deceleration conversion time was T/2, the velocity and control current of the drive system were optimal. This provided references to the running time setting for the servo motor of mine rescue detection robot drive system.