Electromagnetic force control method for magnetic adsorption cable climbing robot

Abstract

The invention discloses an electromagnetic force control method for a magnetic adsorption cable climbing robot, and the method comprises the steps: taking the vibration of a bridge cable detection robot on a bridge cable as interference, and detecting the motion state of the robot through an attitude sensor; the magnetic adsorption robot moves on the inclined cable, if vibration occurs, an attitude sensor can detect an acceleration signal, an industrial personal computer reads an acceleration signal value, and then the voltage value of an output port is adjusted according to the signal value; and finally, the buck boosting module is used for amplifying the voltage value of the output port of the industrial personal computer and introducing the voltage value into two ends of the electromagnetic mechanism. A sliding mode control method is adopted to control the voltage of the output port of the industrial personal computer so as to control the current introduced into the coil of the electromagnetic mechanism. The robot can automatically select the most appropriate electromagnetic force for control according to the detected vibration signal.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an electromagnetic force control method for a magnetic adsorption cable climbing robot. Background technique [0002] In the field of industrial technology, the inspection of cable bridge cables is a very important task. This type of task is an operation carried out under extremely dangerous conditions. If it is performed manually, it is not only inefficient and has a long cycle, but also faces great risks and challenges. The application of magnetic adsorption robots for maintenance can not only improve work efficiency, but also reduce the incidence of maintenance accidents, which is of great significance to the field of industrial technology. [0003] The magnetic adsorption robot is a special robot that can perform continuous crawling operations on the magnetically conductive surface, which can effectively replace humans to perform these dangerous and complicated surface...

AI Technical Summary

Problems solved by technology

During the climbing process of the robot, the electromagnetic force will fluctuate due to factors such as wind force or the surface protrusion of the inclined cable, which will cause the robot to fall

At present, the commonly used method is PID control, but PID control cannot quickly rise to the required voltage, and the robot is easy to fall during the climbing process.

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