Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels
A 3-RPS parallel leveling mechanism based on the proportional integral (PI) robust sliding mode system is designed to solve the problem of data acquisition inaccuracy caused by vehicle tilting during the robot walking. Firstly, the configuration synthesis is carried out according to the spiral and i...
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Editorial Office of Journal of Mechanical Transmission
2024-04-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.009 |
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| author | Xu Shiyang Wu Binghui Ji Dongmei Zhou Jiajun |
| author_facet | Xu Shiyang Wu Binghui Ji Dongmei Zhou Jiajun |
| author_sort | Xu Shiyang |
| collection | DOAJ |
| description | A 3-RPS parallel leveling mechanism based on the proportional integral (PI) robust sliding mode system is designed to solve the problem of data acquisition inaccuracy caused by vehicle tilting during the robot walking. Firstly, the configuration synthesis is carried out according to the spiral and inverse spiral theory. Then, the dynamic analysis and calculation of the 3-RPS leveling mechanism are carried out to construct its dynamic model. On this basis, the adaptive robust sliding mode algorithm is introduced to optimize and improve the PI controller to improve the stability and adaptive correction ability. The stability of the nonlinear control system is verified by Lyapunov function. Finally, the control error curve is obtained by Matlab/Simulink comparative simulation experiment. The simulation results show that the adaptive correction effect of the PI control system optimized by the robust sliding mode algorithm is remarkable, and the steady-state error of the control is greatly reduced. The research provides a basis for the development of physical prototype of 3-RPS parallel leveling mechanism. |
| format | Article |
| id | doaj-art-185694ca7ff14f81b044c74a1afa3c55 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-185694ca7ff14f81b044c74a1afa3c552025-01-10T15:00:09ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-04-0148697455345972Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power TunnelsXu ShiyangWu BinghuiJi DongmeiZhou JiajunA 3-RPS parallel leveling mechanism based on the proportional integral (PI) robust sliding mode system is designed to solve the problem of data acquisition inaccuracy caused by vehicle tilting during the robot walking. Firstly, the configuration synthesis is carried out according to the spiral and inverse spiral theory. Then, the dynamic analysis and calculation of the 3-RPS leveling mechanism are carried out to construct its dynamic model. On this basis, the adaptive robust sliding mode algorithm is introduced to optimize and improve the PI controller to improve the stability and adaptive correction ability. The stability of the nonlinear control system is verified by Lyapunov function. Finally, the control error curve is obtained by Matlab/Simulink comparative simulation experiment. The simulation results show that the adaptive correction effect of the PI control system optimized by the robust sliding mode algorithm is remarkable, and the steady-state error of the control is greatly reduced. The research provides a basis for the development of physical prototype of 3-RPS parallel leveling mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.0093-RPS leveling mechanismDynamic analysisNonlinear controlLyapunov function |
| spellingShingle | Xu Shiyang Wu Binghui Ji Dongmei Zhou Jiajun Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels Jixie chuandong 3-RPS leveling mechanism Dynamic analysis Nonlinear control Lyapunov function |
| title | Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels |
| title_full | Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels |
| title_fullStr | Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels |
| title_full_unstemmed | Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels |
| title_short | Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels |
| title_sort | design and dynamic analysis of the leveling system for automatic inspection robots in power tunnels |
| topic | 3-RPS leveling mechanism Dynamic analysis Nonlinear control Lyapunov function |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.009 |
| work_keys_str_mv | AT xushiyang designanddynamicanalysisofthelevelingsystemforautomaticinspectionrobotsinpowertunnels AT wubinghui designanddynamicanalysisofthelevelingsystemforautomaticinspectionrobotsinpowertunnels AT jidongmei designanddynamicanalysisofthelevelingsystemforautomaticinspectionrobotsinpowertunnels AT zhoujiajun designanddynamicanalysisofthelevelingsystemforautomaticinspectionrobotsinpowertunnels |