研究生: |
Yunafi'atul Aniroh Yunafi'atul - Aniroh |
---|---|
論文名稱: |
Adaptive Gain Sliding Control Based Trajectory Tracking For Wheeled Wall Climbing Robots Adaptive Gain Sliding Control Based Trajectory Tracking For Wheeled Wall Climbing Robots |
指導教授: |
郭重顯
Chung-Hsien Kuo |
口試委員: |
鍾聖倫
Sheng-Luen Chung 林沛群 Pei-Chun Lin 郭進星 Chin-Hsing Kuo |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2014 |
畢業學年度: | 102 |
語文別: | 英文 |
論文頁數: | 83 |
中文關鍵詞: | Wall climbing robot 、adaptive control 、trajectory tracking 、inertial measurement unit |
外文關鍵詞: | Wall climbing robot, adaptive control, trajectory tracking, inertial measurement unit |
相關次數: | 點閱:344 下載:0 |
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This thesis presents the trajectory tracking approach for a wall-climbing robot by using adaptive control schemes. The robot platform is configured with 2 active wheel motors, a suction motor, a motion controller, a battery set, and sensors. The platform's diameter is 25 cm, and its weight is 1.5 kg. The primary sensors are encoders and an accelerometer sensor, the sensors are used for measuring the robot's spatial orientation. The most important consideration for controlling the wall-climbing robot is to make sure that the wheels can be always well contacted to the wall regardless of the slope conditions without sacrificing robot’s mobility. To consider different slope conditions of the wall, this thesis proposes an adaptive gain sliding control schemes to alter the vacuum force so that different gravity effects can be properly dealt with. Moreover, the proposed vacuum force control approach can be desired to avoid the slips of wheels, as well as to reduce the power consumptions of wheel motors and suction motor. Practically, encoder and accelerometer sensors provide the spatial posture information for realizing adaptive control schemes. The sensors are connected to a field-programmable gate array (FPGA) based onboard motion controller to generate control inputs for wheel motors and suction motor according to a specific trajectory. Finally, MATLAB simulations and real tests for dealing with different surface slope conditions were performed with the trajectories of circle, triangle and rectangle. The results were evaluated according to the measurement of the accuracy of trajectory and the power consumptions of the wall climbing robots.
This thesis presents the trajectory tracking approach for a wall-climbing robot by using adaptive control schemes. The robot platform is configured with 2 active wheel motors, a suction motor, a motion controller, a battery set, and sensors. The platform's diameter is 25 cm, and its weight is 1.5 kg. The primary sensors are encoders and an accelerometer sensor, the sensors are used for measuring the robot's spatial orientation. The most important consideration for controlling the wall-climbing robot is to make sure that the wheels can be always well contacted to the wall regardless of the slope conditions without sacrificing robot’s mobility. To consider different slope conditions of the wall, this thesis proposes an adaptive gain sliding control schemes to alter the vacuum force so that different gravity effects can be properly dealt with. Moreover, the proposed vacuum force control approach can be desired to avoid the slips of wheels, as well as to reduce the power consumptions of wheel motors and suction motor. Practically, encoder and accelerometer sensors provide the spatial posture information for realizing adaptive control schemes. The sensors are connected to a field-programmable gate array (FPGA) based onboard motion controller to generate control inputs for wheel motors and suction motor according to a specific trajectory. Finally, MATLAB simulations and real tests for dealing with different surface slope conditions were performed with the trajectories of circle, triangle and rectangle. The results were evaluated according to the measurement of the accuracy of trajectory and the power consumptions of the wall climbing robots.
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