摘要
介绍城市管道清淤机器人系统中管径适应机构、行走机构等重要机构的数学建模过程,建立行走机构系统的PI、PD控制算法以及管径适应机构系统的PID控制算法,并通过MATLAB软件分别输入阶跃响应信号、斜坡响应信号、正弦响应信号等三种信号进行仿真与分析,结果表明:该机器人行走机构系统、管径适应机构系统具有较小超调量、较短调节时间、较好稳定性和可控性。
This paper introduces the mathematical modeling process of the pipe diameter adaptation mechanism and walking mechanism in the urban pipeline dredging robot system.At the same time,PI and PD control algorithm of walking mechanism system and PID control algorithm of pipe diameter adaptive mechanism system are established.In the meantime,three types of signals,including step response signal,ramp response signal,and sine response signal,are inputted through MATLAB software for simulation and analysis.The analysis results show that the robot walking mechanism system and pipe diameter adaptation mechanism system have smaller overshoot,shorter adjustment time,better stability and controllability.
作者
嵇鹏程
嵇鑫宇
Ji Pengcheng;Ji Xinyu(Changzhou River and Lake Management Office,Changzhou 213022,Jiangsu;China University of Mining and Technology,Xuzhou 221116,Jiangsu)
出处
《陕西水利》
2021年第5期10-13,17,共5页
Shaanxi Water Resources
