Research And Design Of Control System For Track Patrol Robot In Fully Mechanized Mining Face

In this thesis,with the support of the National Energy Administration's project"Development Center of Coal Intelligent Unmanned Mining Technology",aiming at the existing problems of monitoring and inspection in fully mechanized mining face,the control system of track inspection robot in fully mechanized mining face is studied and designed.Based on the requirement analysis of the system scheme,the overall structure,control system structure and mechanical structure of the inspection robot are designed and processed.The trapezoidal acceleration and deceleration and S-type acceleration and deceleration are compared and analyzed.The S-type acceleration and deceleration control algorithm is introduced as the control scheme of the motor,which improves the stability and stability of the inspection robot motion.Bit accuracy.In the aspect of hardware circuit design of inspection robot control system,the 32-bit single chip STM32F103RCT6 introduced by Italian Semiconductor Company is used as the main control unit of the system.It has the characteristics of low power consumption,high performance,abundant resources and strong anti-interference ability.It is suitable for industrial sites.The main controller generates PWM signal to control the motor's rotation.At the same time,the GPIO port of the main controller expands the multi-channel sensor module to realize the safe walking of the inspection robot and the detection of the surrounding environment.In the aspect of system control software and host computer software,taking MDK5 and VS2012 as development platforms,and using C and C as programming languages respectively,the system control software and host computer software are developed by modular programming mode.The functions of patrol robot motion control,obstacle avoidance protection,horizontal movement attitude detection,environmental parameter detection and automatic follow-up operation are realized.Finally,the software and hardware modules and system functions of the inspection robot control system are debugged and the test data are recorded and analyzed.