Pressure control of a wheeled wall climbing robot using proporsional controller

Novia Andriani, Muhammad Doni Maulida, Yunafi'atul Aniroh, Miftahul Falahi Alfafa
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引用次数: 6

Abstract

The increased interest in the development of wall climbing robot has been shown in the past decade. Wall climbing robot with the ability to maneuver on vertical surfaces capable of performing dangerous operations such as multi-storey building inspection, surveillance, reconnaissance, assist in firefighting and rescue. By using this wall climbing robot costs become cheaper and less risky. Design wall climbing robots are wheeled robot. This robot is configured with two motors for the wheels, a suction motors, batteries, control movement, and sensors. To create a robot attached to the wall, the robot is equipped with suction. The main sensors used are pressure sensors, to monitor the level of pressure in the vacuum space. Sensors connected to arduino mega generate control inputs for suction motors. The controller used is proportional controller. Proportional controller is used to keep the pressure on the robot to remain constant at surface conditions that vary according to a certain set point.
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基于比例控制器的轮式爬壁机器人压力控制
近十年来,人们对爬壁机器人的发展越来越感兴趣。攀壁机器人,具有在垂直表面上机动的能力,能够执行危险的操作,如多层建筑检查,监视,侦察,协助消防和救援。通过使用这种爬墙机器人,成本变得更低,风险也更小。设计的爬墙机器人为轮式机器人。这个机器人配置了两个轮子的马达,一个吸入马达,电池,控制运动和传感器。为了制造一个附着在墙上的机器人,机器人配备了吸力。使用的主要传感器是压力传感器,用于监测真空空间中的压力水平。连接到arduino mega的传感器为吸入电机生成控制输入。所采用的控制器为比例控制器。比例控制器用于使机器人的压力在表面条件下保持恒定,而表面条件根据某一设定点而变化。
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