牵引式管道清淤机器人驱动及控制系统的研究

发布时间：2018-02-06 00:47

  本文关键词： 清淤机器人 控制系统 电子差速 无线通信 ZigBee技术　出处：《华北理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：目前国内大部分排水管道清污工作,均需要工作人员进入到排水管道内部,不仅严重影响工作人员的健康,同时与当前快速发展的自动化水平不相适应。根据清淤机器人的发展现状提出了一种新型牵引式管道清淤机器人,根据该清淤机器人的工作原理,对清淤机器人驱动系统、动作控制系统和无线通讯系统进行了研究和设计。牵引式管道清淤机器人采用以电机驱动的轮式行走机构。清淤机器人采用两后轮独立驱动。完成了驱动控制电路的硬件设计,通过模糊PID控制算法实现了两个无刷直流电机的调速控制。基于机械差速器的电子差速算法。通过分析机械差速原理,建立数学模型。根据机械差速的数学模型构建电子差速算法,实现了“自适应”电子差速,提高了清淤机器人的运动性能。清淤机器人动作控制系统的研究。根据实际要求确定了控制方案并完成了器件选型。设计了电动缸和步进电机的控制电路。根据清淤机器人的作业流程完成了系统软件设计。清淤机器人无线通信系统采用Zig Bee网络作为数据交互平台,相比点对点通信方式提高了系统通通信的稳定性能。通过Zig Bee开发套件完成了通信系统软件设计,制定了通讯协议。根据清淤机器人作业流程开发设计了控制台指令信号采集模块。针对清淤机器人驱动电机的控制、清淤机器人的动作控制、无线通讯、无线通讯协议和控制台信号采集等,分别进行了测试实验。系统测试性能良好,无线信号传输稳定、机器人动作达到了设计要求。
[Abstract]:At present, most of the domestic sewage pipe cleaning work, the need for staff to enter the drainage pipe inside, not only seriously affect the health of the staff. At the same time, it is not suitable for the current rapid development of automation. According to the development of silt clearing robot, a new type of towed pipeline desilting robot is proposed, according to the working principle of the desilting robot. The actuation system of the desilting robot. The motion control system and wireless communication system are studied and designed. The traction pipeline silt cleaning robot adopts wheeled walking mechanism driven by motor. The silt cleaning robot is driven independently by two rear wheels. Road hardware design. The speed control of two brushless DC motors is realized by fuzzy PID control algorithm. The electronic differential algorithm based on mechanical differential is implemented. The principle of mechanical differential is analyzed. The mathematical model is established. According to the mathematical model of mechanical differential, the electronic differential algorithm is constructed, and the "adaptive" electronic differential is realized. The motion performance of the silt clearing robot is improved. The research of the action control system of the desilting robot is carried out. According to the actual requirements, the control scheme is determined and the device selection is completed. The control circuit of the electric cylinder and step motor is designed. The operation flow of silt clearing robot has completed the system software design. The wireless communication system of silt clearing robot adopts Zig. Bee network acts as a data exchange platform. Compared with the point-to-point communication mode, the stability of the communication system is improved. The software design of the communication system is completed through the Zig Bee development suite. According to the operation flow of the desilting robot, the command signal acquisition module of the console is designed. Aiming at the control of the motor driven by the desilting robot, the action control of the desilting robot, the wireless communication is designed. The wireless communication protocol and console signal acquisition are tested separately. The system has good test performance stable wireless signal transmission and robot action meets the design requirements.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
，

本文编号：1493176