井下履带式探测机器人及其运动抗扰控制研究

Research on underground crawler detection robot and its motion anti-disturbance control

井下履带式探测机器人作业环境复杂,需携带多种探测或救援装备并进行爬坡越障,易导致负载扰动,具有较强非线性和不确定性,此外,用于机器人动力驱动的永磁同步电动机(PMSM)本身是多变量、强耦合的非线性系统,目前常规的基于误差的比例积分微分(PID)控制器很难满足控制需求。针对上述问题,设计了一种四摆臂井下履带式探测机器人,并进行了爬坡越障性能分析,得出了平地直行和直行爬坡2种工况下机器人PMSM的转矩和转速;对PMSM进行建模分析,速度环采用自抗扰控制器(ADRC),电流环采用比例积分(PI)控制器,设计了ADRC+PI控制方案;采用磁场定向控制(FOC)技术对PMSM进行驱动,从而提升机器人在井下作业时的响应性能和抗干扰性能。对ADRC+PI控制方案和常规PI+PI控制方案进行仿真和对比分析,得到2种工况下PMSM的转速、转矩、相电流响应曲线,结果表明:在2种工况下,采用ADRC+PI控制方案时机器人PMSM的转速和转矩响应控制更精准,具有更小的超调量和更短的调节时间,应对外部突变干扰的能力更强,能有效提升井下履带式探测机器人的爬坡越障性能和作业稳定性。

The underground crawler detection robot has a complex working environment,and needs to carry a variety of detection or rescue equipment and climb obstacles,which easily leads to load disturbance and has strong nonlinearity and uncertainty.In addition,the permanent magnet synchronous motor(PMSM)system used for robot power drive is a multivariable and strong coupling nonlinear system,and the conventional proportional integral derivative(PID)controller based on error can not meet the control requirements.In order to solve the above problems,a four-arm underground crawler detection robot is designed,and the climbing performance is analyzed.The torque and rotational speed of robot PMSM are obtained under two working conditions of straight driving on flat ground and straight climbing.The PMSM is modeled and analyzed,the speed loop adopts the active disturbance rejection controller(ADRC),the current loop adopts proportion integration(PI)controller,and the ADRC+PI disturbance rejection control scheme is designed.The PMSM is driven by the field oriented control(FOC)technology,thereby improving the response performance and anti-disturbance performance of the robot when operating underground.The ADRC+PI control scheme and the conventional PI+PI control scheme are simulated and compared,and the speed,torque and phase current response curves of PMSM under two working conditions are obtained.The results show that under the two working conditions,when the ADRC+PI control scheme is used,the speed and torque response control of the robot PMSM is more accurate,with smaller overshoot and shorter adjustment time,and the PMSM has stronger capability to deal with external sudden disturbance.The scheme can improve the obstacle climbing performance and operation stability of the underground crawler detection robot effectively.