【摘要】 针对矿难发生后要求救援机器人具有较强爬坡和快速平稳的反应能力,对机器人需要的驱动电动机控制性能进行研究。考虑到双筒直线电动机产生大的电磁推力并具有较强的环境适应能力,根据其特殊结构和纵向边端效应,结合矢量控制原理,建立了双筒直线电动机磁场定向的矢量控制系统模型,并进行了在线仿真。通过图形比拟验证模型的正确性,进一步检测了双筒直线电动机的结构设计合理性,对进一步研发矿难救援机器人奠定了基础。更多还原

【Abstract】 Aiming at the requirement that the rescue robot has strong climbing ability and fast and stable response ability after the mine disaster, it is necessary to do research on the control performance of the driving motor required by the robot. Considering that the double barrel linear motor can generate large electromagnetic thrust and has strong environmental adaptability, according to its special structure and longitudinal edge effect, combined with the principle of vector control, the vector control system model of the field-oriented double barrel linear motor has been established and simulated online. The validity of the model has been verified by graphic analogy, and the rationality of the structure design of the double barrel linear motor has been further tested, which can lay a foundation for further research and development of mine rescue robot.更多还原