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题名	多轮管道机器人驱动电机功率平衡方法研究
作者	王桂雨
学位类别	硕士
答辩日期	2017-05-24
授予单位	中国科学院沈阳自动化研究所
授予地点	沈阳
导师	李智刚
关键词	管道清洗机器人 无刷直流电机 模糊直接转矩控制 主从直接转矩控制 打滑电机分离
其他题名	Research on power balance method for multi wheel pipeline robot drive motor
学位专业	控制工程
中文摘要	水资源对人类生存和发展有重要意义。自来水是现在城市和一部分农村居民用水的主要来源，自来水的运输途径大都采用自来水管道，而自来水管道在投入运行前会存在很多杂质，在长期运行后会滋生细菌、产生腐蚀、残留沉积物，由此而产生的自来水管道对水资源的二次污染问题也日益严重，居民的用水安全问题也日益凸显。由此，管道清洗技术的发展受到各国政府的广泛重视。本文研究的管道清洗机器人就是针对自来水管道内杂物和污渍的清洗问题。 管道清洗机器人由六个驱动轮共同驱动，每个驱动轮由一个单独的电机驱动。由于机器人运行在环境恶劣的自来水管道中，作业距离很长，作业过程中需要拖动很长的供水水管和电缆，需要很大的驱动力。如果各电机输出功率不均匀就会出现某些电机输出功率大，某些电机输出功率小的问题；不仅会导致机器人的作业距离下降，严重时可能会导致电机烧毁，影响机器人的使用寿命。 针对管道机器人自身特性以及各个驱动轮的联结方式，本文在驱动轮不打滑的状态下将各个驱动轮看成是刚性联接状态，在对单个无刷直流电机进行了数学建模的基础上，对多个电机刚性联接系统进行了Matlab/Simulink仿真建模，提出了采用主从直接转矩控制对多轮管道机器人驱动电机平衡问题进行研究的方法，对直接转矩控制进行了分析和研究。针对原有无刷直流电机直接转矩控制中存在的转矩脉动较大的问题，在分析了模糊控制在非线性和模型不完全系统上的优势的基础上，将模糊控制引入到无刷直流电机直接转矩控制中，提出了将模糊直接转矩控制应用到管道清洗机器人主从直接转矩控制中的控制方法。仿真结果表明，在将模糊控制算法引入到直接转矩控制系统后，电机的转矩脉动大幅减少，提升了系统稳定性。并对管道清洗机器人在极度恶劣的条件下可能出现的打滑现象进行了分析，并以此为基础提出了打滑电机分离的控制方法。仿真结果表明，主从直接转矩控制系统的从电机对主电机的电磁转矩有很好的跟踪效果，实现了对多轮管道机器人驱动电机的功率平衡控制。对有打滑现象的系统进行仿真验证，结果表明系统能很好的应对系统中可能出现某些电机打滑的现象，增强了系统的稳定性。
英文摘要	Water resources are of great significance to the survival and development of human beings. Tap water is the main source of the city and some rural residents to get water now. The tap water transport pathways are mostly used in water transport , and there will be a lot of impurities before putting into operation. After the long run, there will be the breeding of bacteria, corrosion, residual deposits, secondary pollution problems on water resources and the tap water pipeline the water is becoming more and more serious, security issues are also increasingly prominent. Therefore, the development of pipeline cleaning technology has been widely recognized by governments. In this paper, the pipeline cleaning robot is aimed at the cleaning of the impurities and stains in the tap water pipeline. The pipeline cleaning robot is driven by six driving wheels, and each driving wheel is driven by a single motor. Since the robot running in the harsh environment of the tap water pipeline and the distance is very long, the operation of the need to drag a long water supply pipe and cable, need a lot of driving force. If the motor output power is not uniform there will be some motor output power of the motor, some small problems, which not only causes robot working distance decline, will also lead to serious electrical burn, affecting the service life of the robot. According to the characteristics of pipeline robot and each connection driving wheel, the driving wheel does not slip under the condition of the driving wheel is regarded as rigid connection, the mathematical modeling based on brushless DC motor for a single, rigid connection of multiple motor system of the Matlab/Simulink simulation model is proposed direct torque control of robot multi wheel drive motor pipeline balancing problem research on direct torque control is analyzed and studied. Based on the original there is no direct torque control of Brushless DC motor of the torque pulsation problem, based on the analysis of the fuzzy control in the nonlinear model and incomplete system advantage, fuzzy control is introduced to the brushless DC motor direct torque control, fuzzy direct torque control is applied to the master-slave pipeline robot directly torque control. The simulation results show that the torque ripple is greatly reduced and the stability of the system is improved after the fuzzy control algorithm is introduced into the direct torque control system. Based on the analysis of the slipping phenomenon of the pipeline cleaning robot under the extreme condition, the control method of the slipping of the driving wheel and the slipping of the driving wheel is put forward. The simulation results show that the master-slave torque control system has a good tracking effect from the motor to the electromagnetic torque of the main motor, and realizes the power balance control of the driving motor of the multi round pipeline robot. The simulation results show that the system can well deal with the phenomenon of some motor slip in the system, and enhance the stability of the system.
语种	中文
产权排序	1
内容类型	学位论文
源URL	[http://ir.sia.cn/handle/173321/20519]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	王桂雨. 多轮管道机器人驱动电机功率平衡方法研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017.

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