消防机器人控制系统研究

发布时间：2018-02-09 03:14

本文关键词： 消防机器人行走控制系统 PID 模糊PID 无刷直流电机　出处：《青岛科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：如何迅速应对火灾,减少次生灾害,确保生命财产安全是消防工作的重要问题。随着科学技术的快速进步,机器人逐渐进入人们的视线,尤其是消防机器人和救援机器人越来越受到人们的重视。论文分析了消防机器人所处的工作环境和功能需求,根据模块化思想提出消防机器人控制系统方案。本文针对火灾现场的环境复杂性,设计了消防机器人的行走控制方案,通过设计电机驱动系统的硬件电路与针对行走控制系统进行MATLAB模拟仿真,对消防机器人行走控制部分进行重点研究。本文研究的主要内容:(1)论文首先介绍了消防机器人的发展,接着根据消防机器人的需求,分析设计出消防机器人的整体架构,根据消防机器人工作环境的特殊性,提出消防机器人的软硬件功能要求。(2)研究消防机器人的行走控制系统:论文首先介绍了无刷直流电机的工作原理,根据消防机器人行走需要大功率的需求,详细设计电机驱动硬件电路。(3)根据控制系统的概念及方法,对无刷直流电机建立数学模型,并在此基础上利用MATLAB对无刷直流电机双闭环控制系统进行建模仿真。通过研究控制系统和控制算法,通过分析比较PID和模糊PID控制算法,最终得出无刷直流电机控制系统采用模糊PID的控制方法更为有效可行。
[Abstract]:How to deal with fire quickly, reduce secondary disasters and ensure the safety of life and property is an important problem in fire protection work. With the rapid progress of science and technology, robots gradually enter the sight of people. Especially, fire protection robot and rescue robot are paid more and more attention to. This paper analyzes the working environment and function demand of fire fighting robot. According to the modularization idea, the scheme of fire control robot control system is put forward. Aiming at the complexity of fire scene, this paper designs the walking control scheme of fire control robot. By designing the hardware circuit of the motor drive system and the MATLAB simulation for the walking control system, this paper focuses on the research of the walking control part of the fire fighting robot. The main content of this paper is the introduction of the development of the fire control robot. Then according to the demand of fire control robot, the whole structure of fire control robot is designed, according to the particularity of fire control robot working environment, This paper introduces the principle of brushless DC motor firstly, according to the need of high power for fire control robot to walk, the paper introduces the working principle of brushless DC motor, according to the requirement of high power for fire control robot. According to the concept and method of control system, the mathematical model of brushless DC motor is established. On the basis of this, the double closed loop control system of brushless DC motor is modeled and simulated by MATLAB. By studying the control system and control algorithm, analyzing and comparing the PID and fuzzy PID control algorithm, Finally, it is concluded that fuzzy PID is more effective and feasible in brushless DC motor control system.
【学位授予单位】：青岛科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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