综采工作面隔爆巡检机器人控制技术研究

Research on Control Technology of Explosion-proof Inspection Robot in Fully Mechanized Mining Face

首先分析了轨道式巡检机器人在综采工作面的严苛工作环境下遇到的3种典型工况:爬坡、错切、扭转。针对3种工况设计了一种能适应综采工作面环境的隔爆巡检机器人,并分析得出其运动学模型,进而基于该模型,提出一种模型预测控制方法。该方法基于微分几何理论,采用反馈线性化,先将非线性控制系统变换为线性控制系统,然后运用模型预测的控制理论,按照线性系统去设计控制器。最后,通过充分的实验验证了该控制方法能有效地解决爬坡、错切、扭转等综采工作面的苛刻工况,轨迹跟踪实验也验证了该控制方法具有很高的精度。

Firstly,three typical working conditions encountered by the track type inspection robot in the harsh working environment of the fully mechanized mining face were analyzed:climbing,staggered cutting,and twisting.A explosion-proof inspection robot that can adapt to the environment of the fully mechanized mining face was designed for three working conditions,and its kinematic model was analyzed.Based on this model,a model predictive control method was proposed.This method is based on differential geometry theory and adopts feedback linearization.Firstly,the nonlinear control system is transformed into a linear control system,and then the controller is designed according to the linear system using model predictive control theory.Finally,sufficient experiments have been conducted to verify that this control method can effectively solve harsh working conditions such as climbing,cross cutting,and twisting in fully mechanized mining faces.Trajectory tracking experiments have also verified that this control method has high accuracy.