摘要
随着矿山智能化进程的不断推进,履带式巡检机器人得到了广泛应用。然而,矿区道路的复杂性使得传统路径跟踪控制方法在高精度跟踪和系统鲁棒性方面面临严峻挑战。针对矿用复杂环境下履带式巡检机器人路径跟踪精度不足与驱动电机响应不一致的问题,提出一种融合视觉预瞄模型、反步控制算法与差速补偿机制的分层路径跟踪控制方法。控制器采用外环路径误差修正与内环电机同步控制的双层结构:外环根据车辆速度与路径曲率自适应调整预瞄距离,并利用反步控制实现路径误差的渐近稳定;内环通过差速补偿结构提升双侧电机的响应一致性和抗扰能力。为增强控制精度,构建了包含车辆动力学与电机控制的机电耦合模型,更真实地反映机器人实际运行特性。仿真结果表明,在10 km/h与20 km/h两种速度场景下,提出的反步控制算法融合差速补偿结构的分层控制器(Backstepping Control with Differential Compensation,BC-DC)相较于传统方法在横向位置误差和航向角误差方面表现更优,最大横向误差仅为0.027 m,误差降低幅度达到63%。研究结果验证了所提控制策略在复杂地形与多变路径条件下的有效性与鲁棒性,为矿区智能巡检任务提供了可靠的控制支撑。
With the advancement of intelligent mining,tracked inspection robots are increasingly applied in complex underground environments.However,the challenging terrain and variable curvature of mining roads pose significant difficulties for conventional path tracking methods in terms of accuracy and robustness.To address the issues of low tracking precision and asynchronous motor responses,a hierarchical control strategy is proposed integrating a visual preview model,backstepping algorithm,and differential compensation.The controller adopts a dual-loop architecture.The outer loop adaptively adjusts the preview distance based on speed and curvature and employs backstepping control to ensure asymptotic error convergence,while the inner loop enhances motor synchronization and disturbance rejection via differential compensation.An electromechanical coupling model incorporating vehicle dynamics and motor behavior is developed to better capture real-world motion characteristics.Simulations at 10 km/h and 20 km/h show that the proposed BC-DC(Backstepping Control with Differential Compensation)controller achieves superior performance,reducing the maximum lateral error to 0.027 m,63%improvement over traditional methods.These results confirm the effectiveness and robustness of the proposed strategy for intelligent mining inspection tasks under complex and dynamic conditions.
作者
方志鹏
李博
张若飞
Fang Zhipeng;Li Bo;Zhang Ruofei(Weishi Heavy Industry Joint Stock Company,Datong,Shanxi 037002,China;College of Mechanical and Transportation Engineering,Taiyuan University of Technology,Taiyuan 030024,China;College of Coal Engineering,Shanxi Datong University,Datong,Shanxi 037002,China)
出处
《机电工程技术》
2025年第23期103-108,114,共7页
Mechanical & Electrical Engineering Technology
基金
校企合作先导项目(EBZH340)。
关键词
矿用履带式巡检机器人
路径跟踪控制
机电耦合
反步法
mining tracked inspection robot
path tracking control
electromechanical coupling
backstepping method
