The PID Control System for the Electric Buses Battery Swap Robot
In order to meet the development of the domestic electric car and to adapt to changes in the height of the bus to avoid damage to the battery and the body of the bus in the process of changing batteries, this paper designs a robotic system based on dynamics visual servo control system for the electric buses battery swap robot following the target, The robot consists of X, Y, Z three freedoms and the R-axis, T-axis freedoms which can adjust the battery angle relative to vehicle chassis and follow the changes of the height of the bus. In this paper, we design the robot using of robot dynamics visual servo technology, path planning, multi-axis motion control technology, multi-sensor technology and PID control theory. The system is stable, reliable and can rapidly follow the changes of the height of the bus by the system debugging and trial operation, achieving a rapid supply of energy to electric buses.
L. Tan et al., "The PID Control System for the Electric Buses Battery Swap Robot", Advanced Materials Research, Vols. 588-589, pp. 1589-1592, 2012