基于冗余控制理论的壁面机器人真空系统的安全性  

Safety of Wall Robot′s Vacuum System Based on Redundant Control Theory

作　　者：王太勇[1] 许爱芬[1] 赵丽[1] 王涛[1] 胡世广[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《天津大学学报》2008年第3期261-266,共6页Journal of Tianjin University(Science and Technology)

基　　金：国家自然科学基金资助项目(50475117);高等学校博士学科点专项科研基金资助项目(20060056016)

摘　　要：壁面爬行机器人必须具备吸附和移动功能,吸附系统的安全性是决定整机性能的关键指标.将冗余控制理论应用于负压式壁面爬行机器人的真空吸附系统中,分析了冗余理论应用于真空吸附系统的可行性并建模,提出了提高其安全性的有效措施——双真空泵冗余系统.从理论上证明了该冗余系统可以使壁面机器人的平均无故障工作时间至少延长1倍.通过实际的实验数据分析得出,该系统具有实用性和可调性,并且双泵切换具有快速性和稳定性.Wall robots must have adsorption and movement functions, and the safety of the adsorption system is a key index which determines the robot＇s performance. The redundant control theory was applied in the vacuum absorption system of wall cleaning robot, and its feasibility was analyzed, then a model was established. A redundant system of double vacuum bumps was put forward to enhance the robot＇ s safety. It＇ s proved theoretically that in the redundant system, the mean time between failures （ MTBF ） of the wall robot doubled at least. Experimental data show that the redundant system is practicable and adjustable, and the two pumps can switch rapidly and stably.

关 键 词：冗余控制 壁面机器人 真空吸附 安全性 

分 类 号：TH138[机械工程—机械制造及自动化]