TY - GEN
T1 - The modeling and simulation of mine rescue robot with brushless direct current motor based on fuzzy logical controller
AU - Xu, Zhe
AU - Gao, Junyao
AU - Chen, Juan
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/7
Y1 - 2014/10/7
N2 - The coal robot is highly demanded in rescuing and detecting in the coal tunnel after explosion. Due to combustible gases in the tunnel, brushless direct current motor is widely applied for avoiding the danger of spark. In addition, the brushless direct current motor adapts to flexible load, which makes it satisfy both the tough terrain and the slopes. In this paper, the wheeled robot is developed in the Adams. The brushless direct current motor control system is modeled precisely based on the Matlab Simulink and Adams S-function to test the slope climbing ability. To enhance the performance of the speed tracking capacity, a hybrid fuzzy speed controller composed of fuzzy logic controller and proportion integration differential controller is proposed. The simulations show that the controller with a constant set of coefficient cannot adapt to both level road and slope. The results indicate that the motor control system based on the hybrid fuzzy speed controller regulates the speed and torque very well. Therefore, the motor control system is capable of fulfilling the speed tracking under flexible load. Additionally, the results show that the motor and reducer can meet the needs of the maximum torque and the power supplement.
AB - The coal robot is highly demanded in rescuing and detecting in the coal tunnel after explosion. Due to combustible gases in the tunnel, brushless direct current motor is widely applied for avoiding the danger of spark. In addition, the brushless direct current motor adapts to flexible load, which makes it satisfy both the tough terrain and the slopes. In this paper, the wheeled robot is developed in the Adams. The brushless direct current motor control system is modeled precisely based on the Matlab Simulink and Adams S-function to test the slope climbing ability. To enhance the performance of the speed tracking capacity, a hybrid fuzzy speed controller composed of fuzzy logic controller and proportion integration differential controller is proposed. The simulations show that the controller with a constant set of coefficient cannot adapt to both level road and slope. The results indicate that the motor control system based on the hybrid fuzzy speed controller regulates the speed and torque very well. Therefore, the motor control system is capable of fulfilling the speed tracking under flexible load. Additionally, the results show that the motor and reducer can meet the needs of the maximum torque and the power supplement.
KW - Adams modeling
KW - Brushless direct current motor
KW - Matlab Simulink simulation
KW - fuzzy logic control
UR - http://www.scopus.com/inward/record.url?scp=84910609819&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2014.6917495
DO - 10.1109/CYBER.2014.6917495
M3 - Conference contribution
AN - SCOPUS:84910609819
T3 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
SP - 389
EP - 394
BT - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
Y2 - 4 June 2014 through 7 June 2014
ER -