Rescue robot swing arm driving system and its balance control method
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摘要: 针对矿井救灾机器人最大允许体积及质量受限问题，采用单逆变器驱动双电动机形式设计了一种矿井救灾机器人摆臂驱动系统，采取加权求和方法构建了该系统模型，并对该模型双电动机电流关系进行了推导分析。针对煤矿井下复杂工况造成的矿井救灾机器人摆臂负载不一致问题，提出了一种基于有源阻尼机制的矿井救灾机器人摆臂驱动系统平衡控制方法。基于15 kW矿井救灾机器人样机对该方法进行了测试，结果表明该方法可在矿井救灾机器人摆臂负载不一致的情况下实现转矩动态匹配。Abstract: For limitation of the maximum permitted size and weight, a mine rescue robot(MRR) swing arm driving system was designed by taking a form of single-inverter driving dual-motor. The system model was built by use of weighted sum method, and current relationship of the dual-motor of the model was deduced and analyzed. For inconsistent MRR swing arm loads caused by complicated working conditions in coal mine underground, a balance control method for the system was proposed based on active damping mechanism. The method was tested by use of a 15 kW MRR prototype, and the result shows that the method can realize dynamic matching of torque under condition of inconsistent MRR swing arm loads.
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Keywords:
- mine accident /
- rescue robot /
- swing arm driving /
- dual motors driving /
- balance control /
- dynamic torque balance /
- active damping
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期刊类型引用(1)
1. 单杰，关丙火. 井下履带式探测机器人及其运动抗扰控制研究. 工矿自动化. 2022(02): 100-106+146 . 
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