【作者】 李玉霞；

【导师】 李宏穆； 李丽；

【作者基本信息】 成都理工大学 ， 地质工程， 2004， 硕士

【摘要】 随着微电子机械系统(Micro Electric Mechanical System)科学与技术的发展，微机器人的研究有着广泛的应用前景和社会需求，微机器人技术可应用于生物医学、航空航天、国防、工业、农业及家庭等领域。微机器人技术是MEMS科学与技术的一个重要内容，它是多学科技术的综合，由驱动器、传动装置、传感器、控制器、电源等的高度集成。目前，智能机器人的控制是自动控制的一个重要研究方向，由于机器人自身的特点，对微机器人实现自主控制有着特别的意义。 本文基于国内外已取得科研成果，主要针对15～20mm工业管道的微机器人控制技术的若干理论和实际问题，进行研究。主要工作有以下几方面。 (1)本文在查阅和掌握大量有关文献资料的基础上，阐述了微管道机器人的发展现状及展望，并介绍了有关微管道机器人的关键技术。 (2)阐述了智能控制—模糊神经网络控制系统的特点，并阐明了神经网络—模糊推理融合控制的必要性。 (3)分析了电磁式微管道机器人的移动原理，并根据微管道机器人的运动特点及其运行环境，分析了其运动的动力学稳定性。提出了管道内受限微机器人运动的动力学模型，并根据这一模型利用奇异摄动理论对微管道机器人管内运动稳定性进行了研究。从理论上确认了微管道机器人管内运动的可能性和稳定性。 (4)将模糊神经网络技术用于微管道机器人的控制，以实现微管道机器人的自主控制。根据提出的机器人的运行环境、神经网络结构等参数高度集成的模糊神经网络自学习算法(该算法包括基于环境识别的自监督学习算法和增强模糊神经网络结构等参数自学习算法)。对微管道机器人的自主控制进行了计算机仿真研究，并得出了初步的方针结果。更多还原

【Abstract】 With the development of micro electric mechanical science and technology , the studies of micro robot have board application fields and social demands. Micro robots can be used in biomedicine, aeronautics and astronautics, national defense, Industry, agriculture and family fields. Micro robot technique is an important content of the micro electric mechanical science and technology. It is a synthesis of many different disciplines, and a high integration of actuators, drive equipments, sensors, controller and power supplies. The control of intelligent robots is a key study area of modern automatic controls. Owing to the features of robot, it is very important to achieve self-determination control of micro robots.Based on the results have been made in this area so far, the author made a study on some theoretical and practical problems for the control techniques of micro pipe robot. The major works are shown as follows:(1) Based on the amount of recently literature in this thesis, the development status quo and prospect are described, and introduced the key technology of micro-pipe robot.(2) The characteristic of intelligent control-Fuzzy neural network control system is expatiated, and illustrated the necessity(3) Based on the moving environment and the moving features of the robot, the dynamics stability of the micro robot moving is analyzed. The author built the dynamics model of its constrained motion with frictional contact, and its moving stability is analyzed by singular perturbation theory. The stability and possibility of the micro robot moving in pipe are affirmed in theory.(4) The micro pipe robot is controlled by fuzzy neural networks, to achieve the self-determination control of the robot. A new self-learning algorithm that is highly integrated with moving environment of the robot and neural networksstructure is presented in this paper. According to the new self-learning algorithm, a self-learning control of the micro pipe robots is realized by computer simulation, and the simulating results are given.更多还原