一种基于通用变频器的工作级ROV动力系统研究

由于水下特殊环境,工作级ROV应用陆地通用电动控制技术受限,导致其主流仍以液压驱动为主。而陆地先进的动力控制技术主要以电力驱动为主,通过与当前2种动力拓扑,进行对比分析,得出基于通用变频器驱动的工作级ROV动力系统的特点,同时针对该动力系统的控制实时性问题分析,提出改进方法,并论证改进方法的可行性,总结了当前工作级ROV动力系统的工程实现特点和未来发展趋势。

The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a perceiving system for exploring its surroundings. Its computation source is a simultaneously running system composed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is employed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.

应用门循环神经网络的电力铁塔机器人攀爬速度自动化控制方法

电力铁塔机器人攀爬速度一直难以控制,速度过快,机器人容易失去稳定性,导致其从高空掉落下来;速度过慢,则降低巡检效率。针对上述问题,提出一种应用门循环神经网络的电力铁塔机器人攀爬速度自动化控制方法。该方法通过门循环神经网络求取机器人预期攀爬速度,利用激光测速传感器采集机器人实际攀爬速度。计算预期与实际之间的差值,以此为输入,通过构建的模糊PID控制器计算控制量,实现电力铁塔机器人攀爬速度自动化控制。结果表明:与滑模控制、鲁棒控制、PID控制三种方法相比,所研究方法应用下,杰卡德系数更大,说明该方法控制下机器人攀爬速度更接近预期,控制精度更高。