综采工作面防爆型巡检机器人的非线性控制研究

Nonlinear Control Research on Explosion Proof Inspection Robot of Mechanized Mining Face

针对综采工作面轨道式巡检机器人运行不平稳,通过性较差等问题,采用基于运动学模型的非线性控制策略精确控制寻机器人的运行状态。首先,分析了影响综采工作面巡检机器人运行质量的3种典型工况,然后分析了巡检机器人的运动学模型,最后基于该模型,通过非线性反馈线性化,将非线性控制系统变换为线性系统,按照线性系统去设计控制器。通过相关试验验证了控制策略能有效改善巡检机器人的运行质量,解决通过性问题。

In response to the problems of unstable operation and poor passability of the track type inspection robot in the fully mechanized mining face,a nonlinear control strategy based on kinematic models was adopted to accurately control the operation status of the robot.Firstly,three typical working conditions that affect the operation quality of the inspection robot in the fully mechanized mining face were analyzed.Then,the kinematic model of the inspection robot was analyzed.Finally,based on this model,the nonlinear control system was transformed into a linear system through nonlinear feedback linearization,and the controller was designed according to the linear system.Through relevant practical verification,this control strategy can effectively improve the operational quality of inspection robots and solve the problem of passability.