Application of Dual-Mode Switching Threshold Controller to Autonomous Carrier Robot

Chao Hui Wang; Xiang Zhang; Liang Zhang; Fei Zhang; Qun Ming Zhang

doi:10.4028/www.scientific.net/AMM.44-47.1538

Paper Titles

Dynamic Characteristic Research on Thin Rim Structure for Herringbone Planetary Gear Train
p.1514

Dynamic Modeling and Numeration of Flexible Multi-Body System with Closed Loop
p.1519

Multi-Objective Optimization Design of the Helical Gear Transmission Based on Coalition Cooperative Game Theory
p.1525

Design and Implementation of Mobile Objects Tracking System Based on Wireless Sensor Network
p.1533

Application of Dual-Mode Switching Threshold Controller to Autonomous Carrier Robot
p.1538

A Distribution Model of Electric Vehicle Charging Station
p.1543

Analysis of the Leakage for Hydraulic Slide Valve Spool
p.1549

Research on Harmony of Interior System of Railway Passenger Cars
p.1554

Analysis of Crankshaft Fatigue Strength Based on Integrated Finite Element Model
p.1558

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 44-47Application of Dual-Mode Switching Threshold...

Application of Dual-Mode Switching Threshold Controller to Autonomous Carrier Robot

Abstract:

Cleaning the insulation coverings of high voltage power transmission is effective to prevent the flashover accident. This paper designed a climbing robot as carrier platform which composed of spiral wheel and covering. The control system consists of Single Chip Microcomputer (SCM), stepping motor and ultrasonic distance-measuring sensors. Based on switching threshold theories, a compound fuzzy-PID controller was studied. Then the mathematical model of automatic system was simulated by Simulink Toolbox of Matlab. Finally, data of carrier experiments based on closed loop control validated the effectiveness of the controller.

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Periodical:

Applied Mechanics and Materials (Volumes 44-47)

Pages:

1538-1542

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.44-47.1538

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Online since:

December 2010

Authors:

Chao Hui Wang, Xiang Zhang, Liang Zhang, Fei Zhang, Qun Ming Zhang

Keywords:

Control System, Fuzzy PID, Mobile Carrier, Ultrasonic Distance-Measuring

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