Research On Positioning And Control Of Orbital Wireless Powered Inspection Robot

With the continuous strengthening of coal mine safety infrastructure and the comprehensive development of the "four modernizations”of coal mines,orbital inspection robots represented by intelligent and unmanned robots have developed rapidly.The inspection robot can free the inspectors in the coal mine from the harsh working environment and effectively improve the intelligence of the coal mine.Due to the complexity of the underground environment of coal mines,the precise positioning of the inspection robot and the follow-up control of inspection have become one of the key issues of the current underground inspection robot.This paper mainly studies the positioning and control strategy of the orbital wireless power supply inspection robot.The specific contents are as follows:(1)The overall plan for the positioning and control of the inspection robot was formulated.Firstly,the inspection environment and operation characteristics are analyzed,and the operation requirements of the inspection robot are put forward;secondly,because the wireless power supply system developed using the principle of electromagnetic resonance will radiate electromagnetic fields within a short range of the guide rail,and the robot needs to ensure the inspection process during the inspection process.Therefore,the multi-sensor fusion localization method based on extended Kalman filter and the two-degree-of-freedom PI control strategy based on extended observer are selected for the stability of patrol following control.Finally,the implementation scheme of patrol robot localization and control is formulated.(2)Research on positioning method of inspection robot.Since the traditional positioning method is used for positioning on the wireless power supply inspection robot and underground coal mine,there are problems such as environmental characteristics and inspection robot characteristics,which affect the positioning accuracy.To solve this problem,this paper proposes a multi-sensor fusion positioning method.The odometer information is fused with the inertial measurement unit information through the extended Kalman filter algorithm to reduce the noise of the sensor to obtain accurate position information.(3)Research on motion control of inspection robot.Since the inspection robot needs to control the smooth running speed of the inspection robot during the inspection process,this paper formulates a two-degree-of-freedom PI permanent magnet synchronous motor control strategy based on the extended observer,and uses the extended state observer(ESO)to observe,Feedforward compensation is performed on the observation value,which effectively improves the anti-load disturbance performance of the system,realizes the rapid response and no overshoot control of the motor,and further improves the robustness of positioning.(4)Localization and control experimental verification.Based on the orbit inspection robot,a multi-sensor fusion positioning experiment platform and an inspection robot motion control experiment platform are built.First,the single sensor positioning and multi-sensor fusion positioning experiments are carried out to verify the effectiveness and feasibility of the inspection robot positioning algorithm.Secondly,the permanent magnet synchronous motor control strategy formulated in this paper is experimentally verified through the inspection robot motion control experimental platform,which verifies the real-time and effectiveness of the inspection robot control strategy.