混杂动态系统的电缆隧道巡检机器人防摆控制

Hybrid anti-swing control scheme for cable tunnel inspecting robot

研究了电缆隧道巡检机器人系统的防摆问题,该巡检机器人系统的运行轨道环境具有连续多变的起伏走势,由平面运动与斜坡运动两部分所组成.针对该运动系统的特点,提出了一套防摆混杂动态控制系统.通过混杂动态系统建模控制过程,实现控制机器人在平面与斜坡轨道上平稳运行并将摆动降到最小的目标.设计了混杂子系统间的切换条件,将模糊逻辑控制与速度转换控制综合集成,使机器人能够在不同路况条件下切换至不同的控制子系统.实验结果表明:该方法可有效抑制机器人运行过程中的摆动,并且响应速度较快,控制精度良好.

A hybrid anti-swing control scheme for cable tunnel inspecting robot was described.The locomotion of the inspecting robot was considered as a combination of two types-motion of horizontal movement and incline movement.An anti-swing control strategy was proposed to tackle the problems caused by the wave motion inside the tunnel.The hybrid dynamic control was employed to suppress swing of the robot.Moreover,the jump conditions were designed to guarantee the flexibility changing between different control schemes.The fuzzy logic and velocity switching was incorporated into the hybrid framework.Thus,the robot could adapt to different motions without swing.The performance of the hybrid control schemes was examined.The experimental results show the effectiveness of the methods with respect to fast response and preferable control accuracy.