| It is of great significance to develop EOD robots engaged in replacing people toprocess dangerous ammunition and explosives, for reducing the risk coefficient, avoidingcasualties and improving the ability of the national army and police to deal with wastedammunition. EOD robots are mostly used as a drive unit of the DC drive system.Researching and using the AC drive system are quite backward. However, because of itshigh performance, high reliability, and low cost, the characteristics of the AC motor drivesystem are the future direction of the drive system.Under the support of key military construction "863" projects, jointly developed by theInstitute of Intelligent Machines of Chinese Academy of Sciences, Hebei University ofTechnology and Hefei University of Technology of three research institutions.Based on the level of development of AC traction controller current and futureresearch directions, this subject is starting from the robot project requirements, focusing ontheoretical, technical innovation and engineering. This paper describes the EOD robotwalking control system design ideas, researches high performance vector control methodbased on rotor magnetic field. This subject proposes identification method of chaos particleswarm optimization algorithm for the difficult of the Motor Parameter Identification. Thetopics had selected Infineon microcontroller SAK XE162FN16F80L control chip,developed the AC motor controller, and constituted two drive unit of the EOD robotwalking crawler. The robot had been achieving in walking, turning, climbing, and etc.series of design performance. |
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