摘要
采用传统PID方式对矿用巡检机器人驱动电机进行控制时,存在响应速度慢、超调量较高等不足。通过分析驱动电机的工作原理,以巡检机器人无刷直流驱动电机为研究的方向,利用双闭环策略对驱动电机的电流和速度进行控制,并运用MATLAB/Simulink构建了控制模型对驱动电机的各项运行参数进行仿真。结果表明:对模型施加设定的转速时,双闭环控制系统的响应速度较快,静态误差小,可靠性良好。施加负载转矩时,速度环的调节用时较短,仅需0.02 s即可达到动态平衡,且超调量较低,满足驱动电机控制要求,能够进一步提升了巡检机器人运行的稳定性。
When the traditional PID method is used to control the drive motor of the mining patrol robot, there are some shortcomings such as slow response and high overshoot. By analyzing the working principle of the drive motor and taking the brushless direct current motor(BLDCM) of the patrol robot as the research direction, the current and speed of the drive motor are controlled by the double closedloop strategy, and the control model is built with MATLAB/Simulink to simulate the operation parameters of the drive motor. The results show that when a set speed is applied to the model, the double closedloop control system has faster response speed, smaller static error and good reliability. When applying load torque, the adjusting time of speed ring is shorter, only 0.02 s is needed to achieve dynamic balance, and the overshoot is low, which meets the requirements of motor control and further improves the stability of the patrol robot.
作者
吴倩
翟冬
董世建
李洁静
WU Qian;ZHAI Dong;DONG Shijian;LI Jiejing(Cangzhou Technical College,Cangzhou 061001,China;China University of Mining and Technology,Xuzhou 221116,China)
出处
《煤炭技术》
CAS
北大核心
2023年第3期253-255,共3页
Coal Technology
基金
国家自然科学基金面上项目(52072343)。
