| Ventilation,gas and other safety parameters and equipment status inspection is an important means to ensure safe production in coal mines.The working environment of coal mine is very bad,so the traditional manual inspection method is inefficient,and it is not easy to detect problems in time,and there are personnel safety problems.With the rapid development of robot technology,the development of a robot for generation of human patrol is of great significance to make up for the shortcomings of traditional inspection methods.In this paper,based on the mechanical body of the hanging line inspection robot in coal mine,the motion control system of the inspection robot is studied on the basis of the analysis of the requirements of the body structure,the autonomous motion and the control process of the patrol inspection robot.The characteristics of roadway environment in underground coal mine are analyzed,and the distance between the suspension poles of the inspection robot system is optimized.The autonomous movement and inspection process of the inspection robot are studied,and the design requirements of the control system are determined.The hierarchical control theory and expert control theory are studied,and the control system architecture and autonomous control model of the inspection robot are established.Design the overall scheme of the inspection robot control system,and complete the detailed calculation and matching of the key modules of the control system.Aiming at the execution level driving system of inspection robot,the brushless DC motor is used as the research object,the mathematical model of motor and the transfer function of motor are established,and the simulation optimization of the double closed loop speed control system is completed based on MATLAB/SIMULINK.The experimental platform is set up to carry out the feasibility test. |
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