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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)
作者部门机器人学研究室
关键词In-pipe Robot Energy-efficient Control Optimal Velocity Strategy
发表期刊Robotics and Biomimetics
ISSN2197-3768
2016
期号3页码:1-11
产权排序2
资助机构Shenzhen 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).
其他摘要Pipe 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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19237
专题机器人学研究室
通讯作者Li P(李鹏)
作者单位1.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.
推荐引用方式
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.
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