Research On Multi-Motor Drive And Cooperative Control Of Coal Mine Rescue Robots

After the mine disaster accident, the underground terrain environment is complex, and at any times the occurrence of the risk of two disasters, cannot let rescue workers directly under the rescue. The coal mine rescue robot can replace rescue workers to a certain extent, the first to reach the disaster site, to carry out environmental detection. This paper to the coal mine rescue robot multi motor drive and control as the core, from the walking mechanism of the robot and driving mode, multi motor coordinated control simulation study, multi motor control system development, dual motor Synergy Drive System of four aspects.Mine rescue robot walking in the environment of mine disaster and need to climb irregular obstacles, climb across the trenches, walk in muddy and bumpy road etc. Combined with the actual rescue situation, the robot needs to move forward on the ground at high speed, irregular road, low speed and high torque. Analysis of the legged and wheeled, crawler and wheel tracked composite type walking mechanism and the advantages and disadvantages, in determining track type walking mechanism of several motor drive are studied, decided to adopt the four motor drive mode, finally confirmed the spring track type four motor drive of the mine rescue robot walking and driving mode.Brushless DC motor as the basis, analysis of the DC brushless motor structure and working principle, modeling and Simulation of the motor, the comparative analysis of loop and closed loop operation effect, combined with a dual motor pioneer in the coal mine rescue robot with four motor drive two ways at the same time, was established around the track deviation coupling control model. Simulation results show that the deviation coupling control method has the better control effect than the deviation coupling control method.In view of the coal mine rescue robot four driver, development of STM32F107 microprocessor based motion control system, choose the design of the various components in the system, battery, motor drive, etc. Through the PI closed-loop control of Brushless DC motor speed, the ability to improve the load resistance of the motor is improved, and the ability of the coal mine rescue robot to rotate speed is constant. According to the robot in two drive mode by coupling deviation control algorithm, the left and the right track speed coupling. The experimental results show that robot on the ground speed forward and bumps on the road at low-speed forward the straightness has been significantly improved.Aiming at the general multi-motor coordinated control exist drive and control system of the robot needs various kinds of communication interface of the Internet, information interact with each other and analytic consumed a lot of time, has a great influence on the real-time performance of the synchronous motor, and motor driver and controller had much connection reduces the overall reliability of the system. In order to overcome the shortcomings of the design a paragraph can simultaneously drive two motors DC brush motor drive system without, using dedicated high performance motion control chip tms320f2811 simultaneously drive two motors control, in a single chip, to solve a variety of signal acquisition and processing and calculation, to meet the speed of synchronization between the two motors.