本文關(guān)鍵詞： 清淤機(jī)器人 控制系統(tǒng) 電子差速 無(wú)線通信 ZigBee技術(shù)　出處：《華北理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：目前國(guó)內(nèi)大部分排水管道清污工作,均需要工作人員進(jìn)入到排水管道內(nèi)部,不僅嚴(yán)重影響工作人員的健康,同時(shí)與當(dāng)前快速發(fā)展的自動(dòng)化水平不相適應(yīng)。根據(jù)清淤機(jī)器人的發(fā)展現(xiàn)狀提出了一種新型牽引式管道清淤機(jī)器人,根據(jù)該清淤機(jī)器人的工作原理,對(duì)清淤機(jī)器人驅(qū)動(dòng)系統(tǒng)、動(dòng)作控制系統(tǒng)和無(wú)線通訊系統(tǒng)進(jìn)行了研究和設(shè)計(jì)。牽引式管道清淤機(jī)器人采用以電機(jī)驅(qū)動(dòng)的輪式行走機(jī)構(gòu)。清淤機(jī)器人采用兩后輪獨(dú)立驅(qū)動(dòng)。完成了驅(qū)動(dòng)控制電路的硬件設(shè)計(jì),通過(guò)模糊PID控制算法實(shí)現(xiàn)了兩個(gè)無(wú)刷直流電機(jī)的調(diào)速控制�；跈C(jī)械差速器的電子差速算法。通過(guò)分析機(jī)械差速原理,建立數(shù)學(xué)模型。根據(jù)機(jī)械差速的數(shù)學(xué)模型構(gòu)建電子差速算法,實(shí)現(xiàn)了“自適應(yīng)”電子差速,提高了清淤機(jī)器人的運(yùn)動(dòng)性能。清淤機(jī)器人動(dòng)作控制系統(tǒng)的研究。根據(jù)實(shí)際要求確定了控制方案并完成了器件選型。設(shè)計(jì)了電動(dòng)缸和步進(jìn)電機(jī)的控制電路。根據(jù)清淤機(jī)器人的作業(yè)流程完成了系統(tǒng)軟件設(shè)計(jì)。清淤機(jī)器人無(wú)線通信系統(tǒng)采用Zig Bee網(wǎng)絡(luò)作為數(shù)據(jù)交互平臺(tái),相比點(diǎn)對(duì)點(diǎn)通信方式提高了系統(tǒng)通通信的穩(wěn)定性能。通過(guò)Zig Bee開(kāi)發(fā)套件完成了通信系統(tǒng)軟件設(shè)計(jì),制定了通訊協(xié)議。根據(jù)清淤機(jī)器人作業(yè)流程開(kāi)發(fā)設(shè)計(jì)了控制臺(tái)指令信號(hào)采集模塊。針對(duì)清淤機(jī)器人驅(qū)動(dòng)電機(jī)的控制、清淤機(jī)器人的動(dòng)作控制、無(wú)線通訊、無(wú)線通訊協(xié)議和控制臺(tái)信號(hào)采集等,分別進(jìn)行了測(cè)試實(shí)驗(yàn)。系統(tǒng)測(cè)試性能良好,無(wú)線信號(hào)傳輸穩(wěn)定、機(jī)器人動(dòng)作達(dá)到了設(shè)計(jì)要求。
[Abstract]:At present, most of the domestic sewage pipe cleaning work, the need for staff to enter the drainage pipe inside, not only seriously affect the health of the staff. At the same time, it is not suitable for the current rapid development of automation. According to the development of silt clearing robot, a new type of towed pipeline desilting robot is proposed, according to the working principle of the desilting robot. The actuation system of the desilting robot. The motion control system and wireless communication system are studied and designed. The traction pipeline silt cleaning robot adopts wheeled walking mechanism driven by motor. The silt cleaning robot is driven independently by two rear wheels. Road hardware design. The speed control of two brushless DC motors is realized by fuzzy PID control algorithm. The electronic differential algorithm based on mechanical differential is implemented. The principle of mechanical differential is analyzed. The mathematical model is established. According to the mathematical model of mechanical differential, the electronic differential algorithm is constructed, and the "adaptive" electronic differential is realized. The motion performance of the silt clearing robot is improved. The research of the action control system of the desilting robot is carried out. According to the actual requirements, the control scheme is determined and the device selection is completed. The control circuit of the electric cylinder and step motor is designed. The operation flow of silt clearing robot has completed the system software design. The wireless communication system of silt clearing robot adopts Zig. Bee network acts as a data exchange platform. Compared with the point-to-point communication mode, the stability of the communication system is improved. The software design of the communication system is completed through the Zig Bee development suite. According to the operation flow of the desilting robot, the command signal acquisition module of the console is designed. Aiming at the control of the motor driven by the desilting robot, the action control of the desilting robot, the wireless communication is designed. The wireless communication protocol and console signal acquisition are tested separately. The system has good test performance stable wireless signal transmission and robot action meets the design requirements.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242
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本文編號(hào)：1493176