管内机器人移动载体机电动力学驱动特性的研究

A STUDY ON THE CHARACTRISTICS OF THE ELECTROMECHANICAL DYNAMIC DRIVE OF IN-PIPE MOBILE CARRIER

摘要: 本文首先分析了单电机、双电机、三电机驱动移动载体的应用背景环境及优缺点，然后从机电动力学角度，对多电机驱动管内移动载体的电机功率叠加性、移动载体越障时系统电机功率的负反馈特性及机电耦和特性进行了理论分析．

Abstract: This paper firstly analyzes the application environment and advantage of in-pipe mobile carrier with single motor drive, double motor drive and triple motor drive. Then their motor superimposition feature and power negative feed back characteristics while traversing barriers and their electromechanical coupling characteristics are analyzed theoretically.