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研究了矿井搜救探测机器人最小能耗的控制问题。针对直流伺服电机和减速齿轮驱动下的六足机器人关节,在非线性摩擦条件下,利用Hamiltonian和最小值理论,建立了驱动系统的最优速度和最优控制电流模型,明确了加减速转换时间与最优速度和最优控制电流之间的关系。通过MATLAB仿真,获得不同加减速转换时间的速度轮廓和控制电流,从而得出加减速转换时间为T/2时,驱动系统的速度轮廓和控制电流最优,为矿井搜救探测机器人驱动系统伺服电机运行时间的设定提供依据。
The control problem of minimum energy consumption of search and rescue detection robots in mine is studied. According to the Hamiltonian and minimum theory, the optimal speed and optimal control current model of the six-legged robot driven by DC servo motor and reduction gear are established under nonlinear friction condition. The accelerating and decelerating transition time And the optimal speed and the optimal control current. Through the simulation of MATLAB, the velocity profile and control current of different acceleration and deceleration conversion time are obtained, which shows that when the acceleration / deceleration conversion time is T / 2, the speed profile and control current of the drive system are optimal. Provide the basis for the setting of operating hours.