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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,ugg boots billig, 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,ugg italia, 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,ugg milano, the lower control program in assembly language preparation,stivali ugg, 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,tory burch shoes, 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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