Rescue robot swing arm driving system and its balance control method

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.