| Mine air compressors are the vital equipment to provide wind power and fresh air to pneumatic machines and "compressed air self-rescue" system underground coal mine,supplying fresh air and removing gas and dust,its stable and reliable operation is of great significance to ensure the safe production of coal mines.In the coal mine air compressor room,multiple air compressors work in turn to ensure stable air supply under the coal mine,and it is a key place to ensure coal mine safety production.At present,the status monitoring of multiple coal mine air compressors is mainly carried out through manual inspection,which has low efficiency,high missed detection rate and poor real-time performance,resulting in waste of energy and safety accidents in coal mine production.In addition,due to the large number of mechanical and electrical equipment in the coal mine air compressor room,high noise,high temperature and harsh operating environment,the working conditions of the inspection workers are poor.In order to solve the subjected problems,based on the research of the patrol robot motion control method,this paper expounds the design of the intelligent patrol robot,discusses the key technology for path planning and motion control of patrol robot.The main research contents of the paper are as follows:(1)Based on the analysis of operating features and monitor requirements of air compressors,this paper designs the hardware and software systems of patrol robots based on ROS system,and builds the differential driving kinematic model of patrol robot.The kinematic model is also tested and analyzed based on Simulink.(2)Regarding the path planning of inspection robot,designs the improved bat algorithm.Inertial weights and Levi ’s flight theories are introduced to optimize the algorithm of speed control and position update in global search.Cauchy distribution theory is applied to optimize the mechanism of local search.The improved bat algorithm is used in the path planning of inspection robot,improving the accuracy of optimal path solution.(3)This paper analyzes the trajectory tracking control principle and the impact of out-sync differential driving wheels of inspection robot on trajectory tracking,designs MPC trajectory tracker based on linear error model.The improved bat algorithm is applied to optimize the parameters of wheel speed PID controller.The differential-compensated two-wheel synchronous control structure is invented,and the MPC-APID hierarchical trajectory tracking controller is built based on the cascade control principle.The simulation model of the tracking controller is built,and the simulation results prove its quick and accurate tracking of the reference track.(4)An experimental platform for inspection robots is built to test the path planning algorithm,trajectory tracking controller and synchronous control performance in the indoor environment and coal mine blower room,and the effectiveness of the proposed algorithm and control structure is verified.The experimental results show the patrol robot is able to plan the shortest path of the coal mine blower room through the path planning algorithm,and realize the rapid tracking of the reference trajectory.The adaptive differential compensation synchronization control structure can improve the synchronization of the two drive wheels of the inspection robot.The thesis includes 76 pictures,23 tables,and 93 references. |
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