Research On Dynamic Characteristics Analysis And Stability Augmentation Control Method Of Flexible Track Inspection Robot

Underground intelligent inspection is an important link to ensure the safety of personnel and equipment.At present,wheeled and tracked robots adapt to complex underground environment through multi-sensor equipment and path planning,while track robots avoid the influence of complex ground environment,and can further study the adaptability and universality of tracks,as well as the running stability.Aiming at the problems of suspension wheel slippage and robot swing on flexible track existing in the existing research foundation,the flexible track inspection robot body is optimized and designed,and a method of anti-swing around the track of the robot by fusing the swing data of the fuselage is proposed to improve the running stability of the robot.The main research contents are as follows:According to the rolling friction theory,the influence of the number of suspension wheels and driving wheels on the driving ability of robot is studied,and a mathematical model of multi-wheel traction force of flexible track inspection robot considering the parameter relationship of suspension wheels,driving wheels and slope angle is proposed to determine the appropriate number of suspension wheels and driving wheels.The relationship between suspension wheel arrangement and fuselage swing form is analyzed to determine the optimal suspension wheel arrangement;The three-dimensional model of the robot is established,and the real robot is processed on the basis of ensuring the reliable structure,and the slope angle range of the suspension wheel of the robot is analyzed.Establish a flexible track model with adjustable pretightening force,study the variation law of flexible track drape and fuselage pitch,and determine the flexible track drape range when the robot goes up and down safely;This paper analyzes the influencing factors of flexible track drape,and puts forward a qualitative adjustment method of flexible track drape;Analyze the robot's motion posture under a certain drape degree,and determine the fuselage swing form for the follow-up study in this paper.This paper studies the swing process and law of the fuselage around the orbit,puts forward a control method of anti-swing and stability enhancement integrating the reverse adjustment mass of the fuselage attitude,and designs the anti-swing structure model;This paper analyzes the principle of anti-swing and stability enhancement,constructs the mathematical model of anti-swing and stability enhancement control of robot,designs the anti-swing and stability enhancement controller,and adjusts the controller parameters to verify the correctness of the anti-swing and stability enhancement control method.The flexible track inspection robot is developed,the experimental platform is set up,the anti-swing and stability increasing control experiment is carried out,the stability increasing control effect is observed,and the feasibility of the anti-swing and stability increasing control method designed in this paper is verified.The experimental results show that the swing law of the flexible track inspection robot optimized in this paper is clear,and the proposed anti-swing and stability increasing control method has achieved good control effect,which is in line with the research expectation and has practical value.