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Control method for unpowered descending speed

A speed control and power technology, which is applied in the field of unpowered downhill speed control of inspection robots, can solve problems such as the working state of the drive system, and achieve the effects of accurate speed control, convenient practicality, and simple speed control method.

Inactive Publication Date: 2016-11-23
WUHAN UNIV
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AI Technical Summary

Problems solved by technology

This speed control method has accurate speed control and strong anti-interference ability, but it requires the drive system to be in working condition.

Method used

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  • Control method for unpowered descending speed
  • Control method for unpowered descending speed
  • Control method for unpowered descending speed

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The speed control method will be introduced in more detail below in conjunction with the schematic diagram.

[0022] as attached figure 1 shown. According to the pulse width modulation method, by changing the duty ratio of the PWM wave of the control circuit, the on-off control of the switching device (such as MOS transistor) of the inverter circuit can be realized, thereby realizing the output voltage of the inverter circuit ( That is, the control of the armature induced electromotive force in the circuit.

[0023] attached to figure 1 Using Ohm's law for the loop in

[0024] u a =I a (R a +R z ) (1)

[0025] Among them, u is the duty cycle of PWM wave, E a is the induced electromotive force of the armature, I a is the armature current, R a is the armature resistance, R z is the energy consumption resistance;

[0026] Calculated from the electromagnetic torque formula

[0027] T=K t I a (2)

[0028] Among them, T is the electromagnetic torque, K t is...

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Abstract

The invention discloses a control method for an unpowered descending speed of a patrol robot. According to the method, a pulse width modulation method is applied to dynamic braking and the unpowered descending speed of the patrol robot is controlled by changing the PWM wave duty cycle of the control circuit. According to the speed control method, the control on unpowered descending speed of robot can be accurately realized, the running safety of the robot in unpowered descending process can be ensured and basis is laid for the further implementation of a recycling method for unpowered energy.

Description

technical field [0001] The invention relates to a method for controlling the speed of a downhill without power, in particular to a method for controlling the speed of a downhill without power for an inspection robot. Background technique [0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. The above shortcomings can be overcome by the inspection of line inspection robots. Its inspection efficiency is high and the imaging effect is good. It is an inevitable trend of the combination of robot technology and transmission line ins...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/20
Inventor 吴功平杨智勇郭磊万义强樊飞李胜邦徐青山杨守东曹琪杨景波于建友刘明
Owner WUHAN UNIV
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