北京航空航天大学学报 ›› 2004, Vol. 30 ›› Issue (08): 705-708.

• 论文 • 上一篇    下一篇

爬壁机器人气动位置伺服控制研究

张厚祥, 刘荣, 王巍, 宗光华   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2003-05-07 出版日期:2004-08-31 发布日期:2010-09-21
  • 作者简介:张厚祥(1974-),男,天津人,博士生, rliu@buaa.edu.cn.
  • 基金资助:

    国家863计划资助项目(863-512-9913-03)

Research on the pneumatic position servo system for climbing robot

Zhang Houxiang, Liu Rong, Wang Wei, Zong Guanghua   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2003-05-07 Online:2004-08-31 Published:2010-09-21

摘要: 针对高层幕墙清洗作业的特点,设计并实现了新型全气动爬壁机器人系统.为解决气动系统低刚度和非线性的特点,针对机器人气动结构中两个主运动气缸的运动定位问题提出了一种分段变结构bang-bang控制方法,并应用于气动脉宽调制高速开关阀控气缸位置伺服,实验及应用结果表明该方法使得控制性能得到明显改善,满足使用要求.

Abstract: To meet the requirements of glass-wall cleaning for high-rise buildings, a pneumatically actuated climbing robot has been developed. However, the characteristics of low-stiffness and nonlinearity in pneumatic system make accuratecylinder position control difficulty. To solve this problem, a new bang-bang control method was proposed. The whole control process is segmented into several bang-bang periods according to the piston position and velocity of cylinder. Withthis method, when the piston of cylinder is far from set position it can move quickly towards the target, and when the piston is near the set point it will reach the target accurately. Testing results show that this control method can effectively improve the control quality.

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