The Study On The Key Technology Of Control System For No-dig Subminiature Drilling Robot In City Road

With quick development of national economy and city construction, city pipeline, such as water pipe, gas pipe, sewer, cable, etc, is built, replaced and repaired increasingly. If the traditional digging method is still followed , not only to destroy the road surface, but also to bring the traffic jam and much inconvenience to the citizen. In order to solve this problem, no-dig technology is developing quickly in recent years.No-dig construction equipment must be imported for some great engineer in our country. Not only it is very dear, but also it can't fit the construction request of narrow road in our country. Therefore, it is our city civilization construction's demand to research the no-dig technology that fits our country.This topic's background is the tackling project in suzhou, drilling robot in no-dig city road construction. It is to research the intelligence control method of the craft process of the robot system. It includes six chapters totally. The research contents is as follows:Chapter 1 The source and the significance is described, and the control method of drilling robot is investigated. So the topic is set up.Chapter 2 By researching the principle of subminiature drilling robot and kinematics of the robot, the position of the subminiature drilling robot and control model is set up.Chapter 3 By researching the tradition control method, adaptive control technique and extension method is compared. It is established that this thesis introduces extension control method with adaptive control. The arithmetic of the control system is made research to establish the hardware circuit and program of the direct current control system.Chapter 4 By the request of level and direction control in the subminiature drilling robot, a kind of simple, credible level control method is brought forward and a new direction control system method is set up.Chapter 5 The intelligence control system of robot is experimentalized in the computer to simulate by a kind of software named PROTRUS. The result is analyzed to testify the forerunner of the drilling robot system.Chapter 6 The main contents contained by this thesis is generalized. And some shortage and outlook is put forward.