The Kinetics Analyse & Optimum Control Of A New Type Of Wall-cleaning Robot

The theme summarizes the advantage and disadvantage of a various types of Wall-climbing robot today. On the basis of this, a new designing plan is given in which problems of dimensional movement of a double lines pendulum and the method of its controlling have been involved. By Analytical Mechanics method, a kinematical differential equation of a double lines pendulum is set up. Because the equation has a strong coupling and nonlinear form, It is hard to find out a resolution. Then we simplify a double lines pendulum to a spherical pendulum model and set up its mathematical model. According to the designing plan, the mathematical model of spherical pendulum is more simplified in two aspects, and the results we get has the same form with the mathematical model of simple pendulum. Then a rule of kinematical of pendulum in relative coordinate is gotten.When the suspended point is moving on the line in a kind ofway, the pendulum will depart from the balance position. In order to minimize the swing movement of pendulum and minimize the consumption of power, a linear regulator is created for the system. Finally, a optimum feed back status of speed is made.