http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Haoyu Xiong (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Yang Tang,Jie Wu,Xiang Liu,Xin Yang,Yuan Wang,Haoyu Xiong 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.9
In order to realize the precise positioning of the tools in the pipeline repair operation, solve the problems of the traditional throttle speed control, such as slow response, long deceleration distance and so on, this paper explores a deceleration process of a pipeline intelligent plugging robot (PIPR) that relies on the friction between slips and the pipe, and establishes its dynamic model based on fuzzy PID force servo control. The influence of PIPR initial velocity, expected deceleration distance, accumulator setting on the response time, positioning accuracy, overshoot and stability during deceleration is analyzed, and the results show that: as the initial velocity increases, the time for slips to contact the pipe decreases, the overshoot of the centroid acceleration gradually increases, the maximum overshoot is -3.4 m/s 2 , the control time of the deceleration process is within 30 s, the positioning accuracy is within 5 %; the expected deceleration distance has a greater impact on the positioning accuracy of the system than the initial velocity; and the accumulator setting has little effect on the positioning accuracy and stability of the system. These studies provide guidance for the design of pipeline robot speed control and positioning system.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
