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

  • Hong Xu
  • Linsen XuEmail author
  • Gaoxin Cheng
  • Shouqi Chen
  • Jinfu Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)


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.


Wall-climbing robot Unconventional shaped control circuit board BLDC motor 



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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hong Xu
    • 1
  • Linsen Xu
    • 2
    • 3
    Email author
  • Gaoxin Cheng
    • 1
  • Shouqi Chen
    • 1
  • Jinfu Liu
    • 1
  1. 1.University of Science and Technology of ChinaHefeiChina
  2. 2.Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, CASHefeiChina
  3. 3.Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot TechnologyHefeiChina

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