| With the development of artificial intelligence technology,the application of robots in various industries has become more and more extensive,especially in the high-risk coal industry.The intelligentization of the coal industry is an inevitable development trend.The intelligentization of coal mines is an industry guide that the country pays attention to.The degree of development of coal mine robots fully represents the level of intelligence in the coal mine industry.The underground terrain is intricate and complicated.As an important transportation carrier in the coal mine,the crawler-type mobile mechanism must have excellent motion control performance,and on this basis can it further realize the function of autonomous walking of the underground crawler-type mobile robot.To this end,this article has carried out research on the motion control system of the crawler mobile robot in the coal mine,designed a motion control system with high control accuracy and good robustness,and verified it through field tests.The specific research content is as follows:According to the analysis of the characteristics of the coal mine underground environment,the performance requirements of the motion control system of the mobile robot are determined,and the motion control system based on the CUMT-V robot is modified.The hardware architecture is divided into five parts: the control layer,the communication layer,the perception layer,the bottom control layer,and the drive layer.The hardware of each part is selected and analyzed.Through the analysis of the robot climbing and the in-situ rotation of the two driving processes In addition,the selection of the motor has been completed,and the transformation of the robot's running mechanism has been completed.Based on the framework of Robot Operating System(ROS),the software architecture is divided into five parts: coordinate transformation node,simultaneous positioning and mapping node(Simultaneous Localization and Mapping,SLAM),path planning node,trajectory tracking node and chassis driving node,And designed the realization function of each part.Through the research on the trajectory tracking technology of the differential mobile robot,the kinematics model of the crawler mobile robot is established,and the related principles of trajectory tracking control are analyzed.Based on the kinematics model and the principle of trajectory calculation,the mileage calculation of the robot is completed The design of the module adopts the idea of sliding window to complete the design of the speed feedback module.The problem of robot trajectory tracking is described mathematically,and a robot trajectory tracking controller based on the principle of model predictive control is designed.The simulation test is carried out on the Stage platform of ROS.The test results show that the function of trajectory tracking is basically realized,and its tracking accuracy is within 0.05 m,which proves the effectiveness of the controller designed in this paper.Through the research of brushless DC motor control technology,the structure and working principle of brushless DC motor are analyzed.The mathematical model of brushless DC motor is established,and the principle of PID control,BP neural network and particle swarm algorithm are explained.BP neural network and particle swarm optimization algorithm are used to optimize the design of PID control parameters.Three control algorithms of PID,BP-PID and PSO-BP-PID are simulated in MATLAB.The simulation test shows that PSO-BP-PID The performance of the control algorithm is better,and the motor double closed-loop control system is designed based on the PSOBP-PID control algorithm.In Simulink platform,the conventional double closed-loop control system and the PSO-BP-PID-based double closed-loop control system are simulated.The simulation results show that the latter has a faster response speed in speed and torque.Finally,the control system was successfully transplanted to the STM32F4 series development board,and field tests were carried out using the CUMTV improved robot.The test results show that the motor control system designed in this paper can respond quickly and reach a stable state,with good dynamics and steady state.performance.In order to verify the effectiveness of the motion control system designed in this article.The CUMT-V improved robot was used to conduct field tests in the two environments of the underground garage and the simulated roadway.The DWA algorithm,the TEB algorithm and the MPC trajectory tracking control algorithm in this paper were compared.The tracking effect and tracking error of the field test show that under the ideal environment of the underground garage,the performance of the motion control system in this paper is close to that of the TEB algorithm,and the DWA algorithm has the worst effect.In the environment of simulated roadway,the effect of the motion control algorithm designed in this paper is the best,which basically meets the application requirements of underground coal mines.Finally,the application control algorithm designed in this paper was successfully applied to the coal mine underground drilling robot,and field tests were carried out.The motion control error is far less than the required 0.05 m error range,which meets the engineering application requirements.This paper has 99 pictures,13 tables,and 123 references. |
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