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Development of Control System with Double-Closed Loop for a Multi-mode Wall-Climbing Robot

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

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Abstract

The paper proposes a multi-mode wall-climbing robot, for the requirements of bridge detection, disaster search and rescue. Firstly, according to the biomimetic mechanism, the claw wheels, adhesive tracks and eddy vacuum fans are designed respectively. With these bionic structures the robot can climb on a variety of complex walls. Secondly, by virtue of the spatial layout characteristics of the mechanical structure of the robot, the unconventional shaped control circuit board of the BLDC motor is designed independently. At the same time, due to different wall roughness, the robot will not move stably, then the speed of the motor needs to be adjusted in real time. Therefore, the double-closed loop control system of BLDC motor has been designed, which is simulated and analyzed based on SIMULINK. The results show that the designed control system has excellent dynamic performance and steady-state performance, meeting the working requirements of wall-climbing robots on various wall surfaces.

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Acknowledgements

This work was supported by grants from Science and Technology Major Project of Anhui Province (17030901034), Jiangsu Key Research and Development Plan (BE2017067).

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Authors and Affiliations

  1. University of Science and Technology of China, Hefei, Anhui Province, China

    Hong Xu, Gaoxin Cheng, Shouqi Chen & Jinfu Liu

  2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, CAS, Hefei, China

    Linsen Xu

  3. Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology, Hefei, Anhui Province, China

    Linsen Xu

Authors
  1. Hong Xu
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  2. Linsen Xu
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  3. Gaoxin Cheng
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  4. Shouqi Chen
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  5. Jinfu Liu
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Corresponding author

Correspondence to Linsen Xu .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Xu, H., Xu, L., Cheng, G., Chen, S., Liu, J. (2019). Development of Control System with Double-Closed Loop for a Multi-mode Wall-Climbing Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_10

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  • DOI: https://doi.org/10.1007/978-3-030-27532-7_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27531-0

  • Online ISBN: 978-3-030-27532-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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