| 煤矿探测与救援机器人分布式控制系统设计 |
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| 引用本文： | 朱建国,李科杰,高峻峣,高学山,吴倩颖,任沛杰. 煤矿探测与救援机器人分布式控制系统设计[J]. 计算机测量与控制, 2011, 19(11) |
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| 作者姓名： | 朱建国 李科杰 高峻峣 高学山 吴倩颖 任沛杰 |
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| 作者单位： | 北京理工大学机电学院,北京,100081 |
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| 摘 要： | 由北京理工大学研制的煤矿探测与救援机器人采用多台可编程控制器(PLC)的分布式控制系统的形式,对该控制系统的硬件实现和软件控制流程进行了介绍,并重点介绍了控制系统的数据交换和共享,并最后实现了机器人的两种工作模式:人工遥控模式和自主运动控制模式。经实践证明,此控制系统设计是合理、可靠和实用的。
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| 关 键 词： | 机器人 分布式控制系统 可编程控制器 |
Design of Distributed Control System for Coal Mine Detect and Rescue Robot |
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| Zhu Jianguo,Li Kejie,Gao Junyao,Gao Xueshan,Wu Qianying,Ren Peijie. Design of Distributed Control System for Coal Mine Detect and Rescue Robot[J]. Computer Measurement & Control, 2011, 19(11) |
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| Authors: | Zhu Jianguo Li Kejie Gao Junyao Gao Xueshan Wu Qianying Ren Peijie |
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| Affiliation: | Zhu Jianguo,Li Kejie,Gao Junyao,Gao Xueshan,Wu Qianying,Ren Peijie(School of Mechatronic Engineering,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | The coal mine detect and rescue robot developed by Beijing Institute of Technology is based on distributed control system that consists of several Programmable controllers(PLC).The hardware design and control software flow chart of the control system is introduced.The data exchange and sharing is demonstrated in detail.Finally,the remote manual control mode and the autonomous control mode are realized.The experiments results proved that the control system is feasible,reliable and useful. |
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| Keywords: | robot distributed control system PLC |
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