SIA OpenIR  > 机器人学研究室
Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics
Li P(李鹏); Ma SG(马书根); Lyu, Congyi; Jiang, Xin; Liu YH(刘云辉)
Department机器人学研究室
Source PublicationRobotics and Biomimetics
ISSN2197-3768
2016
Issue3Pages:1-11
Contribution Rank2
Funding OrganizationShenzhen Peacock Plan Team Grant (KQTD20140630150243062), Shenzhen Key Laboratory Grant (ZDSYS201405081618 25065), the Hong Kong Research Grants Council (CUHK6/CRF/13G) and the Hong Kong Innovation and Technology Fund (ITS/112/15F).
KeywordIn-pipe Robot Energy-efficient Control Optimal Velocity Strategy
Other AbstractPipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipments for exploration. Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long. In this paper, we use the total input energy as the cost function and a more accurate DC motor model to generate an optimal energy-efficient velocity control for a screw-drive pipe robot to make use of the limited energy in field environment. We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio k v kv , to keep the robot working in safe region and decrease the energy dissipation. This selection strategy considers three situations of the velocity ratio k v kv and has a wide range of application. Simulations are conducted to compare the proposed method with the sinusoidal control and loss minimization control (minimization of copper losses of the motor), and results are discussed in this paper.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19237
Collection机器人学研究室
Corresponding AuthorLi P(李鹏)
Affiliation1.School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, ShenZhen, 518055 China
2.Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong China
3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016 China
4.Department of Robotics, Ritsumeikan University, Shiga-ken, 525-8577 Japan.
Recommended Citation
GB/T 7714
Li P(李鹏),Ma SG(马书根),Lyu, Congyi,等. Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics[J]. Robotics and Biomimetics,2016(3):1-11.
APA Li P,Ma SG,Lyu, Congyi,Jiang, Xin,&Liu YH.(2016).Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics.Robotics and Biomimetics(3),1-11.
MLA Li P,et al."Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics".Robotics and Biomimetics .3(2016):1-11.
Files in This Item: Download All
File Name/Size DocType Version Access License
Energy-efficient con(4530KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li P(李鹏)]'s Articles
[Ma SG(马书根)]'s Articles
[Lyu, Congyi]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li P(李鹏)]'s Articles
[Ma SG(马书根)]'s Articles
[Lyu, Congyi]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li P(李鹏)]'s Articles
[Ma SG(马书根)]'s Articles
[Lyu, Congyi]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Energy-efficient control of a screw-drive pipe robot with consideration of actuator's characteristics.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.