伞形管道爬行器控制系统设计

摘要

分析了伞形管道爬行器的动作和电机的选取,对驱动电机和伞足电机均采用直流电机和脉宽调制调速,重点研究了伞形管道爬行器的前进、后退、停止,伞足的张开、闭合,转弯时电机的顺序动作控制电路等,对伞形管道爬行器的控制和应用有重要意义.%The paper analyzes the operation of the umbrella-type pipe crawler and the selection of the motor.The crawler applies DC motor and pulse width modulation speed governing to the drive motor and the motor at the umbrella foot.The main description is on the advancing, back-off and stopping of the umbrella-type pipe crawler, umbrella foot's opening/closing and sequential operation control circuit of the motor when turning and so on.It bears significance in the controlling and application of umbrella-type pipe crawler.