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Energy-efficient control of a screw-drive pipe robot with consideration of actuator's characteristics.

Li P, Ma S, Lyu C, Jiang X, Liu Y - Robotics Biomim (2016)

Bottom Line: Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long.We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio [Formula: see text], to keep the robot working in safe region and decrease the energy dissipation.This selection strategy considers three situations of the velocity ratio [Formula: see text] and has a wide range of application.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, ShenZhen, 518055 China ; Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong China.

ABSTRACT

Pipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipments for exploration. Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long. In this paper, we use the total input energy as the cost function and a more accurate DC motor model to generate an optimal energy-efficient velocity control for a screw-drive pipe robot to make use of the limited energy in field environment. We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio [Formula: see text], to keep the robot working in safe region and decrease the energy dissipation. This selection strategy considers three situations of the velocity ratio [Formula: see text] and has a wide range of application. Simulations are conducted to compare the proposed method with the sinusoidal control and loss minimization control (minimization of copper losses of the motor), and results are discussed in this paper.

No MeSH data available.


Related in: MedlinePlus

Location mode with  m,  s with . a Translational velocity, b displacement, c armature current, d armature voltage
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Fig9: Location mode with  m,  s with . a Translational velocity, b displacement, c armature current, d armature voltage

Mentions: In Fig. 9a the velocity of the minimum energy control is the lowest one, compared to that of the other two, whose speed exceeds the maximum continuous working speed 0.144 m/s for a short while. Figure 9a, c also shows that the speed of minimum energy control accelerates and decelerates rapidly and maintains a stable speed; this is convenient for the robot while checking the pipe, because a stable moving speed is reasonable for sensor to collect data; as for the other two methods, the speed varies during the whole operation time.Fig. 9


Energy-efficient control of a screw-drive pipe robot with consideration of actuator's characteristics.

Li P, Ma S, Lyu C, Jiang X, Liu Y - Robotics Biomim (2016)

Location mode with  m,  s with . a Translational velocity, b displacement, c armature current, d armature voltage
© Copyright Policy - OpenAccess
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4940445&req=5

Fig9: Location mode with  m,  s with . a Translational velocity, b displacement, c armature current, d armature voltage
Mentions: In Fig. 9a the velocity of the minimum energy control is the lowest one, compared to that of the other two, whose speed exceeds the maximum continuous working speed 0.144 m/s for a short while. Figure 9a, c also shows that the speed of minimum energy control accelerates and decelerates rapidly and maintains a stable speed; this is convenient for the robot while checking the pipe, because a stable moving speed is reasonable for sensor to collect data; as for the other two methods, the speed varies during the whole operation time.Fig. 9

Bottom Line: Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long.We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio [Formula: see text], to keep the robot working in safe region and decrease the energy dissipation.This selection strategy considers three situations of the velocity ratio [Formula: see text] and has a wide range of application.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, ShenZhen, 518055 China ; Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong China.

ABSTRACT

Pipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipments for exploration. Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long. In this paper, we use the total input energy as the cost function and a more accurate DC motor model to generate an optimal energy-efficient velocity control for a screw-drive pipe robot to make use of the limited energy in field environment. We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio [Formula: see text], to keep the robot working in safe region and decrease the energy dissipation. This selection strategy considers three situations of the velocity ratio [Formula: see text] and has a wide range of application. Simulations are conducted to compare the proposed method with the sinusoidal control and loss minimization control (minimization of copper losses of the motor), and results are discussed in this paper.

No MeSH data available.


Related in: MedlinePlus