煤矿探测机器人自适应重构关键技术研究

发布时间：2018-04-14 15:03

本文选题：煤矿井下搜救探测机器人 + 轮履切换　；参考：《太原理工大学》2013年硕士论文

【摘要】：我国是一个煤炭产销大国,而且存在大量的小型煤矿,瓦斯爆炸、火灾、透水、顶板冒落等事故频繁发生。中国的煤炭产量约占全球的35%,事故死亡人数则占近80%,因此矿难发生后的搜救工作至关重要。但由于事故发生后井下环境存在不确定和危险因素,救援人员盲目下井救援可能发生二次灾难。如何迅速、准确地获得井下环境状况,并以此为依据制定有效的救援方案尤为重要,迫切需要一种能够适应复杂环境的煤矿搜救探测机器人。通过分析国内外搜救探测机器人结构特点,并考虑到矿难后搜救的紧迫性,本文提出了一种轮履复合运动的煤矿井下搜救探测机器人。利用平行四边形连杆机构平动特点设计车轮升降机构,实现了履带式运动和轮式运动模式的切换,使机器人能够根据矿井下环境状况自动选择运动模式,迅速完成探测和搜救任务。本文从结构设计、动力学分析、运动仿真、有限元分析和控制系统等方面展开了研究。分析各种搜救探测机器人结构,并在履带机器人的基础上设计了轮履复合运动的搜救探测机器人,并对机器人关键结构和部件进行了分析和设计。运用三维设计软件UG对机器人进行虚拟样机的建模,并进行了整机模型的装配工作。根据机器人运动状态的不同,从履带运动、轮履切换运动和轮式运动三种模式进行了数学建模和分析,推出机器人水平运动的动力学模型。建立虚拟样机模型,并对机器人履带运动到轮式运动整个过程进行运动学和动力学仿真分析。利用ANSYS软件对轮履切换过程中关键部件进行了静力学分析,检验转轴及车轮升降摆臂的强度、刚度及材料选择的合理性。运动学和动力学分析和仿真,为进一步优化机器人结构设计提供了依据。研究了模型参考自适应控制算法在煤矿井下探测机器人TUT-CMDR上的应用,建立了电机传动系统的简化数学模型,运用超稳定性理论设计自适应速度控制器,在Simulink环境下建立模型并进行仿真分析,验证了算法的有效性。
[Abstract]:China is a large country of coal production and marketing, and there are a large number of small coal mines, gas explosion, fire, water permeability, roof caving and other accidents occur frequently.China accounts for about 35 percent of the world's coal production and nearly 80 deaths from accidents, so the search and rescue effort after the disaster is crucial.However, due to the uncertainty and risk factors in the underground environment after the accident, rescue workers blindly go down the well and rescue may occur two disasters.It is very important to obtain the underground environment condition quickly and accurately, and make an effective rescue plan based on it. It is urgent to need a kind of coal mine search and rescue robot which can adapt to the complex environment.By analyzing the structural characteristics of the search and rescue robot at home and abroad and considering the urgency of the search and rescue after the mine accident, this paper presents a kind of underground search and rescue robot in coal mine.The parallel quadrilateral linkage mechanism is used to design the wheel lifting mechanism, which realizes the switch between crawler motion and wheel motion mode. The robot can automatically select the motion mode according to the environment under the mine.Rapid completion of detection and search and rescue missions.In this paper, structural design, dynamic analysis, motion simulation, finite element analysis and control system are studied.This paper analyzes the structures of various search and rescue robots, and designs a search and rescue robot with wheel-shoe composite motion based on the crawler robot, and analyzes and designs the key structures and components of the robot.The 3D design software UG is used to model the virtual prototype of the robot, and the assembly of the whole machine model is carried out.According to the different motion states of the robot, the dynamic model of the horizontal motion of the robot is derived from the three models of tracked motion, wheel-toggle movement and wheel-type motion.The virtual prototype model is established and the kinematics and dynamics simulation of the whole process from crawler motion to wheel motion is carried out.The statics analysis of the key components in the process of wheel shoe switching is carried out by using ANSYS software, and the strength, stiffness and the rationality of material selection of the swing arm of rotary shaft and wheel are tested.Kinematics and dynamics analysis and simulation provide basis for further optimization of robot structure design.The application of model reference adaptive control algorithm in TUT-CMDR of underground detection robot is studied. The simplified mathematical model of motor transmission system is established, and the adaptive speed controller is designed by using superstability theory.The effectiveness of the algorithm is verified by modeling and simulation analysis in Simulink environment.
【学位授予单位】：太原理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP242;TD77

【参考文献】