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中文摘要：
溜井全景扫描仪是一种利用CCD相机对井内复杂情况进行探测的设备，其探头升降速度的稳定性对图像质量影响较大。为此，笔者提出了一种基于变频调速的控制方案，利用变频器驱动电动机实现探头的升降，通过编码器进行探头位置跟踪及速度实时反馈，并详细研究了卷筒负载转矩的变化情况。实践表明，采用该方式成功实现了扫描探头以恒定速度进行升降，应用效果良好。
英文摘要：
Orepass panoramic scanner is a kind of facility in which CCD cameras are used to detect the complicated situation of the orepass, and the stability of the probe lifting speed has a great influence on image quality, so a control scheme was proposed based on variable frequency speed regulation. The converter was used to drive the motor to realize the rise and fall of the probe, and the encoder was utilized to trace the probe position and realize the realtime speed feedback. Moreover the variation of the drum load torque was studied in detail. Practice showed that the movement of probe at a constant speed was achieved with this strategy, and application results were excellent.
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