The modeling and simulation of mine rescue robot with brushless direct current motor based on fuzzy logical controller

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.