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针对带电巡检机器人在行走及爬坡时出现的行走轮打滑问题,首先采用静力学方法分析了机器人的爬坡能力,设计了压紧轮机构,由于压紧轮与行走轮在接触点的线速度相同,提出了利用读取压紧轮的速度间接识别行走轮打滑的方法;对打滑状态进行识别后,发现无法利用准确的数学模型对打滑状态进行控制,而采用模糊控制可有效解决打滑控制问题;实验结果表明:压紧轮机构的设计增加了行走轮的摩擦力,提升了机器人的爬坡能力;在行走轮爬坡能力范围内,坡度是影响机器人打滑的主要因素,文中提出的模糊控制方法可以有效消除打滑现象。
Aiming at the problem of walking wheel skidding when walked and climbed by a charged inspection robot, the climbing ability of the robot was analyzed by statics method first, and the compacting wheel mechanism was designed. Since the line between the pressing wheel and walking wheel at the contact point The same speed, the method of reading the slippery of walking wheel indirectly by using the speed of reading compacting wheel is proposed. After identification of the slipping state, it is found that the accurate mathematical model can not be used to control the slipping state. However, the fuzzy control can effectively solve the slipping control The experimental results show that the design of the compacting wheel mechanism increases the friction of the running wheels and enhances the climbing ability of the robot. In the climbing ability of walking wheels, the grade is the main factor that affects the robot’s slipping. The fuzzy Control method can effectively eliminate the phenomenon of skidding.