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 Wysłany: Sob 9:46, 11 Gru 2010 Temat postu: ugg boots billig Crawler pipe robot and its dual v |
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Crawler pipe robot and its dual variable structure control system
Mobile robot control system is another important component. The operator can operate the computer to monitor the in-pipe robot working condition. The system can operate the robot computer keyboard, while real-time display pipe running robot and store data for later data analysis provide the basis and support the printed output in-pipe robot control system includes a computer interface circuit and the corresponding software. Software design including user-friendly interface, initialization module,[link widoczny dla zalogowanych], main program module, timer interrupt service module and the keyboard scan module. 【) Computer control system hardware, including computer hardware interface circuit input accessories out of the module, D / A converter module, optical encoder signal is read module. The circuit's main function is to generate timer interrupt,[link widoczny dla zalogowanych], read the optical encoder signals, servo alarm signal and emergency stop signal; receive keyboard instruction and through the D / A converter to achieve control of DC servo drive control of the robot. The interface circuit shown in Figure 3. 2) Computer Control System Software computer control system software used BOLANDC + + mixed programming with PC assembly,[link widoczny dla zalogowanych], the lower control program in assembly language preparation,[link widoczny dla zalogowanych], the upper interface of BOLANDC + + compiled. The software consists of four modules: initialization module, run the preparation module, the keyboard scan module and the timer interrupt module. Initialize the output module to complete a 71 - high-tech communications 2001.12, D / A, 8254, and 8259 of the initialization; module to complete before running for high power servo, servo and encoder to allow reset; keyboard scan module scan which a key is pressed, and perform the corresponding operation; timer interrupt module read servo alarm bit,[link widoczny dla zalogowanych], emergency stop bits and the number of encoder 4 Experimental results and conclusions of Figure 3 computer interface circuit schematic PR-l The main technical indicators of pipeline robot prototype are: i for diameter: 0200ram ~ ~ 500mm; ii, local maximum climbing: a l5. ~ +25. ; Tube obstacle: 5ram; a stroke depth: <200m; v road speed: <6m/min; the system in the room, the field underwent a tube crawl tube experiments. Diameter range of 200 ~ 500mm. The results are up to and exceeds the requirements of some of the technical indicators, the system runs stable. Proved design and control of thought is absolutely correct: This issue has been the acceptance by the Tianjin Science and Technology Commission, with the industrial application of the basic conditions. References: [1] HarryTR. BruceAtEEETr ~ rlsaz'tiorlor? EnergyConversio, l993, 8 (3): 2] BrooksRAARobustLayeredControlSystemaMo-bileRobinIEEEJe, urnalofRJ ~ oticsarmAutomation, l9862 [3] Di-sheng Wang Yan Sun compiled machine control machine] Industry Press, l997.4StudyonaristructruedCrawlerPipeRobotandItsDua1. controlSystemGongJinfeng. PengShangxian (DepartmentofMechanica1Engineering, TianjinUniver ~ ty, Tianjin300072) AbstractThesystemstructureanditsdnat-controlsystemofavaristructruedin-pipingrobotarepre ~ ntedInthispa a er. ThevartructruerobotbedyandhardwareofitscontrolsystemarealsoillustratedExperimentsshowthattheproposedsystemhassatisfactoryrmmingstateandpracticatapplicationpotential-Keywords: In-pipingmobilerobot, Varistructruedpiperobot, Dual-contro1system, Microcomputerinterface72-
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