Nonlinear Control Research on Explosion Proof Inspection Robot of Mechanized Mining Face
In response to the problems of unstable operation and poor passability of the track type inspection robot in the fully mechanized mining face,a nonlinear control strategy based on kinematic models was adopted to accurately control the operation status of the robot.Firstly,three typical working conditions that affect the operation quality of the inspection robot in the fully mechanized mining face were analyzed.Then,the kinematic model of the inspection robot was analyzed.Finally,based on this model,the nonlinear control system was transformed into a linear system through nonlinear feedback linearization,and the controller was designed according to the linear system.Through relevant practical verification,this control strategy can effectively improve the operational quality of inspection robots and solve the problem of passability.
万方数据
维普
