《黄金》杂志(月刊) 第39卷 总第415期
2018年07月 第07期
目次
机电与自动控制
  • 井下巡检机器人仿生关节用超声电机驱动及控制技术探索与设计……刘林山,郝铭
  • 摘 要:黄金矿山井下巡检工作面空间狭小,环境恶劣,需要研制井下巡检机器人替代巡检人员完成巡检任务。井下巡检机器人仿生关节用电动机要求高功率、低速大力矩,行波型旋转超声电机具有的良好伺服性能恰好能够满足仿生关节特性需要。针对高频逆变电源、对外呈现容性负载的伺服电机特点,提出了四路隔离的两相高频驱动电源、频率自动跟踪与调节,以及正、反转的驱动及控制系统设计要求,从采用DSP芯片、设计匹配电路、隔离电路及控制策略4个方面进行设计方法研究,最终获得满足黄金矿山井下巡检机器人仿生关节用超声电机驱动及控制系统。

    Technicalexploration and design of ultrasonic motor drive and control of inspectionrobots’ biomimetic joint in underground mine……Liu Linshan,Hao Ming

    AbstractThe harsh conditions and confined workface space for inspection inunderground gold mines make it necessary to develop underground inspectionrobot to replace human operators.The biomimetic joint motor of the inspectionrobot requires high power and low-speed high torque in the gold mine.The goodservo performance of traveling wave rotary ultrasonic motor just meets the needof biomimetic joint characteristics.According to the servo motorcharacteristics of high-frequency inverter power supply and motor externalcapacitive load,the paper proposed design requirements,namely four isolated two-phasehigh-frequency drive power,automatic frequency tracking and regulation andpositive and reverse motor drive control system.The design methods are studiedby employing DSP chip,designing matching circuit,isolating circuit and applyingcontrol strategy.Finally,the design of ultrasonic motor drive and control ofinspection robots’ biomimetic joint in underground mine is reached.

    Keywords:gold mine; inspection robot; biomimetic joint; ultrasonic motor; drivepower; control strategy


  • 关键词:黄金矿山;巡检机器人;仿生关节;超声电机;驱动电源;控制策略
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