Research On The Control System Of A Fire Fighting Robot

The purpose of fire fighting is to be able to extinguish fires quickly,to reduce secondary disasters,and to ensure the safety of life and property.Science and technology are developing very quickly.Robots have attracted people’s attention,especially fire robots and rescue robots.This paper analyzes the working environment and functional requirements of fire-fighting robots.The design of proposed fire-fighting robot according to the idea of modular.In this paper,according to the environmental complexity of the fire scene.A fire robot’s walking control scheme is designed.The hardware control circuit of the motor drive system and the simulation of the walking control system are carried out,and the walking control part of the fire robot is studied emphatically.The main contents of this paper are as follows:(1)The paper first introduces the development of the fire robot,and then analyzes and designs the overall structure of the fire robot according to the needs of the fire robot.According to the particularity of the fire robot’s working environment,the hardware and software requirements of the fire robot are put forward.(2)Researches on the walking control system of the fire robot.The paper first introduces the working principle of the Brushless DC motor,then designs the motor drive hardware circuit of the fire robot.(3)A mathematical model of the Brushless DC motor is established and on this basis,the Brushless DC motor double closed-loop control system is simulated using the MATLAB platform.The simulation proved that the Brushless DC motor controlsystem using fuzzy PID control method is more effective and feasible.