Hybrid Anti-swing Control Scheme For Cable Tunnel Inspecting Robot

This paper researches on anti-swing control scheme for cable tunnel inspecting robot system. Due to the orbit of the tunnel changing with the environment, it has special sections including up and down slopes, leading to continuous swing in the inspecting process. Thus seriously affects the acquisition of visual signals, resulting in the loss of focus or motion blurred. This is an undoubted major obstacle in a tunnel inspecting robot technology in practical application. It is important to eliminate or control body swing to improve efficiency and reduce security risks in inspecting operation.In this paper, our work on anti-swing control scheme for cable tunnel inspecting robot are as follows:(1) Make analysis of acting forces on inspecting robot system, modeling the mechanical inspecting robot system using Lagrange equations, and discussing factors act on robot swing.(2) Design the hybrid anti-swing control scheme for inspecting robot running on horizontal and incline orbit. The locomotion of the inspection robot is considered as a combination of two types motion of horizontal movement and incline movement. A novel anti-swing control strategy has been proposed to tackle the problems caused by the wave motion inside the tunnel. We employ the hybrid dynamic control to suppress swing of the robot. Moreover, the jump conditions are designed to guarantee the flexibility changing between different control schemes, and the stability of the system is verified.(3) The performance of the hybrid control schemes is examined with MATLAB Simulink toolbox. We compare the response of hybrid anti-swing control with the response of the ideal speed and make analysis on simulation results.(4) The concrete hardware realization of the hybrid anti-swing controller has been completed. The general plan, the hardware and software systems are introduced.Through the experiment, we contrast the swing angle variation of the situation before and after the control strategy. The experiment results show the precise positioning and swing angle control for the robot system and the good results in application.