Control System Design of Multi-Function Artificial Intelligence Crawler
-
摘要: 为实现大合拢焊缝的TOFD检测，研制了多用途智能爬行器。利用电子差速转向的控制策略，满足了TOFD检测工艺要求，提出了一种利用伺服电机编码器反馈信号进行爬行器位姿计算的方法。基于上述方法，从硬件和软件两方面对爬行器的控制系统进行了设计。试验证明，基于差速转向的控制系统可以灵活地控制爬行器运动，满足了爬行器的机动性要求，利用编码器反馈信号进行位姿计算的方法结果准确，无需额外的位置传感器，对辅助操作和自动化检测等应用具有较高的实用价值。Abstract: Multi-function artificial intelligence crawler(MAIC-1) was developed to accomplish TOFD inspection for the welding of block construction of hull. A steering control strategy of electronic differential speed was proposed to meet the requirement of TOFD procedure, and a pose estimation algorithm based on encoder in servo motor was developed. The control system design was described from hardware and software aspects. The experiments showed that the control system based on the steering control strategy of electronic differential speed could drive the crawler flexibly with suitable maneuverability of crawler control. The algorithm of pose estimation based on encoders without extra sensors was verified by experiments. The algorithm had great potential for crawler operation assistant and automation.
-
Keywords:
- Crawler /
- Hull block construction /
- Welding /
- Electronic differential speed /
- Pose
-
-
[1] 翟丽，孙逢春，谷中丽，等.电传动履带车辆电子差速转向控制策略[J].北京理工大学学报,2009,29(2):113-117. [2] 王振宇，詹跃东，张立明.视觉AGV的差速转向控制器设计[J].计算机应用,2007,27(7):1789-1791. [3] Niku S B.机器人学导论——分析、系统及应用[M].孙富春，朱纪洪，刘国栋，等，译.北京：电子工业出版社,2006. [4] 西格沃特 R, 诺巴克什 I R.自主移动机器人导论[M].李人厚，译.西安：西安交通大学出版社,2006. [5] Craig J J.机器人学导论[M].贠超，译.北京：机械工业出版社, 2008.
计量
- 文章访问数: 1
- HTML全文浏览量: 0
- PDF下载量: 1
下载:
