가공케이블 가설용 안전로봇의 구성 및 이동과 장력에 관한 하이브리드제어
- Alternative Title
- Scheme and Movement, Tension Hybrid Control of Safety Robot for the Installation of an Overhead cable
- Abstract
- Cable has to maintain constant tension at all times when aerial power cable is installed or replaced. Installation work of aerial power cable is the extreme work which is performed in high air. Such being the case, purpose of this study is to develop a safety robot for disaster prevention which automatically installs power cable on behalf of people in order to maintain constant tension.
Installation by a safety robot has to be done with movement and certain maintenance of tension at the same time and so, interference occurs in influence due to respective movements causing hybrid control. Therefore, it is required to arrange a control method to regulate interference between two works.
This study suggested a composition of a mixture control method of move/tension and a control method with the model of movement unit using direct current motor, the tensiometer model using AC servo motor, and the cable model as control object.
While a car body carrying cable moves, a safety robot performs both functions to unwind the cable from a drum and to maintain a certain tension in parallel. A safety robot is composed of a movement unit, a tensiometer, and a control unit and it established a mixture control method to regulate interference between two works applying feedback/feedforward. Modeling of the movement unit is based on equation of direct current motor and equation of motion regarding movement of a safety robot, and current feedback loop. Modeling of the tensiometer is based on equation of AC servo motor to generate tension, dynamic equation of power cable, and tension feedback loop. Also, feedback/feedforward circuit was combined in order to improve robustness of tension control.
A simulation program was prepared using modeling of movement unit and proposed controllers. A review was conducted through a simulation whether all the systems were properly made. In addition, an adequate parameter of respective controller was selected and the an evaluation was performed for running performance of a safety robot. A review on the effect of cooperative control was done by simulation evaluation of the movement/tension mixture control through feedforward control and then, it determined the optimum feedforward control parameter. A research was conducted on speed pattern of movement unit, effect of momentum, effect of quantization at the time of AD and DA conversion, and effect of static friction while a safety robot installed power cable. Also, the research was conducted on problems such as the vibration of tension during movement of a safety robot and the deviation resulting from delay in following the instruction value of tension. When a safety robot performs cable installation, cable length varies because it is continuously unwound and is pulled in a certain tension and therefore, its weight cannot be neglected. Hence, this study indicated dynamic model of cable considering the weight in order to review characteristics of cable tension in actual dynamic stat. The dynamic stat dealt with unwound length and flexibility state of cable continuously and expressed them in the equation of motion. Further, it reviewed effectiveness of dynamic stat from the calculation result of numerical values which were input with actually measured cable unwound speed and movement speed as boundary condition.
Small-sized safety robot systems were designed and manufactured at a laboratory and then, a comparative review was done through simulations and tests to evaluate their effectiveness.
In this study, a safety robot system for small - scale cable installation was fabricated in an indoor laboratory and the simulation and experimental results were compared and the validity of the study was confirmed by analyzing the control system. However, due to the limitations of the experimental environment of this study in the room, we used a thin wire whose cable weight does not affect the control. Therefore, in future research, it is necessary to carry out experiments with a cable of a thickness indicating a influence on weight control in a dynamic cable model, and it is necessary to increase the field applicability by adding an outdoor experimental facility including a pole and a support. do.
- Issued Date
- 2017
- Awarded Date
- 2017. 8
- Type
- Dissertation
- Publisher
- 부경대학교
- Affiliation
- 부경대학교 대학원
- Department
- 대학원 안전공학과
- Advisor
- 이동훈
- Table Of Contents
- 1. 서 론 1
1. 1 연구배경 1
1. 2 연구목적 및 필요성 4
1. 3 연구의 구성 5
2. 안전로봇 시스템 6
2. 1 가공케이블 가설 원리 6
2. 2 장력계와 이동계의 간섭 8
2. 3 시스템의 구성 10
2. 3. 1 이동계의 구성 10
2. 3. 2 장력계의 구성 12
2. 3. 3 로봇의 구성 15
2. 3. 4 제어계의 구성 16
2. 4 이동계 모델과 속도제어 19
2. 4. 1 직선왕복 운동계 19
2. 4. 2 주행용 전동기 모델 22
2. 4. 3 주행전동기 속도제어 24
2. 5 장력계 모델과 장력제어 26
2. 5. 1 케이블 모델 26
2. 5. 2 장력계 모델 28
2. 5. 3 장력발생 전동기의 모델과 장력제어 29
2. 6 이동/장력 하이브리드 제어 32
3. 케이블 동적 모델 35
3. 1 케이블 동적 모델 35
3. 1. 1 모델의 도출 35
3. 1. 2 경계조건 40
3. 2 수치해석 41
3. 2. 1 주행속도와 케이블 풀림속도 해석 41
3. 2. 2 로봇 몸체의 요동 해석 45
4. 시뮬레이션과 실험결과 51
4. 1 실험용 안전로봇과 실험방법 51
4. 2 시뮬레이션 블록선도 56
4. 3 시뮬레이션과 실험 61
4. 3. 1 단독운전 61
4. 3. 2 피드포워드 제어 70
4. 3. 3 피드포워드의 효과 86
4. 4 시뮬레이션과 주행시험 89
4. 5 제어계의 해석 103
4. 5. 1 장력진동과 추종지연 편차 영향 103
4. 5. 2 정지마찰 영향 108
4. 5. 3 이산화 114
4. 5. 4 피드포워드 계수 117
5. 결론 122
참 고 문 헌 125
부록 133
- Degree
- Doctor
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