| 螺旋轮式管道检测机器人驱动电动机的控制 |
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| 引用本文： | 刘星,李著信,苏毅,谌彪.螺旋轮式管道检测机器人驱动电动机的控制[J].后勤工程学院学报,2009,25(2):38-41,45. |
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| 作者姓名： | 刘星 李著信 苏毅 谌彪 |
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| 作者单位： | 1. 后勤工程学院,军事供油工程系,重庆,400016
2. 75563部队,海口,571900 |
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| 摘 要： | 分析了螺旋轮式管道检测机器人驱动系统的组成和原理,给出了管道机器人驱动电动机的控制策略,并设计了电动机的控制系统.根据机器人的运动参数分析管道状况,研究了驱动电动机的控制过程,为下一步精确控制管道机器人的驱动电动枳嵌供了参考.
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| 关 键 词： | 管道机器人 驱动电动机 无刷直流电动机 电动机控制 |
Driving Motor Control for Pipe Inspection Robot with Screw Motion |
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| LIU Xing,LI Zhu-xin,SU Yi,CHEN Biao.Driving Motor Control for Pipe Inspection Robot with Screw Motion[J].Journal of Logistical Engineering University,2009,25(2):38-41,45. |
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| Authors: | LIU Xing LI Zhu-xin SU Yi CHEN Biao |
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| Institution: | 1.Dept.of Petroleum Supply Engineering;LEU;Chongqing 400016;China;2.Unit 75563;Haikou 571900;China |
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| Abstract: | The construction and theory of driving system for pipe inspection robot with screw motion are analyzed.The control strategy of driving motor for the robot is presented,and the motor control system is designed.The pipe situations are analyzed according to the motion parameter of the robot,and the control process of drive motor is studied.All of these provide reference for the next step to control the drive motor of pipe robot accurately. |
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