Energy Supply And Increased-stability Control Study For Unicycle Hanging Tunnel Inspecting Robot

This paper mainly researches on anti-swing and increased-stability control and energy supply study for unicycle hanging tunnel inspecting robot. The cable tunnel inspecting robot system needs to conduct real-time online monitoring of the internal situation. For some reasons, like the operation mode and tunnel environment, route and other restrictions, the robot meets some problems focusing on continuous swing and energy shortage in the inspecting process. Thus seriously affects the acquisition of visual signals, resulting in the loss of focus, motion blurred or noise, which even makes serious influence to the equipment life. However, it is important to handle the way and interval to recharge the robot under the tunnel environment, which takes improper resulting in the inspection task not continuing to proceed without interruption.In view of the anti-swing control, the system model is established to find out the factors influencing the robot motion instability, and to verify the swinging law using the conventional way of PID. Finally the fuzzy controller with anti-sway is designed to find out a more efficient method of inhibition of robot swing in the inspecting process.To take advantage of Simulink toolbox in MATLAB, simulation experiments are carried on to analyze the performance of the anti-swing controller designed. The experiment results show the effectiveness of the fuzzy anti-sway control system anti-sway with good control effect. The system can effectively inhibit the body hanging swing, and swing angle decays to zero within ten seconds after stopping, with the static error rate of less than one percent.After in-depth study of the electromagnetic inductive charging technology, separate type wireless charging device is designed in view of the energy supply. Through the experiment of physical entity, the results show that the device can finish charging task for inspecting robot.For the energy supply problem of unicycle hanging tunnel inspecting robot system, this paper analyzes the various power transfer plans by contact wired and inductive wireless types. After in-depth study of basic framework of the low-frequency and split transformer wireless charging, it designs automatic charging device that is non-contact and wireless, which includes a charging station automatically detecting, activating, and releasing. The paper describes in detail the composition of the various parts of the charging module, and improves the basis for the feasibility of the program.