Simulation of Angular Acceleration Control for Information Acquisition Robots with Air-Ground Purpose

doi:10.23940/ijpe.19.12.p28.33503358

Abstract

Abstract: In order to allow information acquisition robots to run steadily on land and in the air, it is necessary to study the angular acceleration control method for ground-air dual-purpose information acquisition robots. When the angular acceleration control method for the current robot is used to control the angular acceleration of ground-air dual-purpose information acquisition robots, there are problems of low control accuracy and low stability. Thus, a method of angular acceleration control for ground-air dual-purpose information acquisition robots is proposed. The dynamic equation of the information acquisition robot motion process is constructed according to the DC motor equation of the right and left track driving wheels and the driving motor, as well as the potential balance equation. According to the dynamic equation, the initial values of the information acquisition robot system and the inverse system are obtained. The state equation model of the information acquisition robot system is obtained by using the inverse method of the α-order integral. On the basis of the state equation model, the angular acceleration regulator control model is obtained to control the angular acceleration of ground-air dual-purpose information acquisition robots. The simulation results show that the control results of the proposed method have high accuracy and stability.

Key words: ground-air dual-purpose, information acquisition, robot, angular acceleration control

Chunping Liu, Xiangbin Zhao, and Huimin Gao. Simulation of Angular Acceleration Control for Information Acquisition Robots with Air-Ground Purpose [J]. Int J Performability Eng, 2019, 15(12): 3350-3358.

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