机械与电子Issue(9)：72-75,4.
玻璃幕墙清洗机器人爬壁运动控制系统设计
Design of Control System for High rise Buildings Glass wall Cleaning Robot
刘永平 1张世一 1蔺卡宾1
作者信息
- 1. 兰州理工大学机电工程学院，甘肃 兰州 730050
- 折叠
摘要
Abstract
To solve the problem of glass wall cleaning for high rise buildings,this research de-veloped a kind of glass curtain wall cleaning robot with a double layer structure,and designed the ro-bot structure and wall climbing motion control sys-tem.The various hardware components of the con-trol system are designed with FPGA chip at the core,and the host control software is written at the same time.Fuzzy PID algorithm is used to a-chieve closed loop control of the stepper motor, and the motor is analyzed with Matlab.Simulation results indicates that the robot’s running status is stable and has high practicability.关键词
机械结构/硬件设计/模糊 PID/仿真分析/软件编程Key words
mechanical structure/hardware de-sign/fuzzy PID/simulation analysis/software pro-gramming分类
信息技术与安全科学引用本文复制引用
刘永平,张世一,蔺卡宾..玻璃幕墙清洗机器人爬壁运动控制系统设计[J].机械与电子,2015,(9):72-75,4.
