消防机器人——利用水流反力使其蛙跳

FIRE-EXTINGUISHING ROBOT—FROGJUMPING DRIVEN BY REACTING FORCE OF WATER

  • 摘要: 本文从理论和实验两方面研究了水力驱动消防机器人两喷嘴底座模型的平衡检测与控制.利用一角位移传感器沿一导向钢丝(联接于固定台架上下底板间)滑动检测出模型运动的平衡状态;运用模糊控制理论,通过STD-BUS 工业控制机成功地实现了模型运动平衡的实时控制.

     

    Abstract: The balance measuremet and control of a fire extinguishing robot model is investigated theoretically as well as experimentally.This robot model is driven by pressurized water jeted from two-nozzle pedestal.The status of the motional balance is detected by an angular displacement sensor sliding over a steel wire(attached to the top and botom plates of a fixed rack).The real-time sampling control of its balance is effectively realized by use of fuzzy control theory,with a STD-BUS computer.

     

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