The development of the spherical robot to meet the requirements of high-speed and high-precision tasks is of great importance. In this study, a fractional-order adaptive integral hierarchical sliding mode controller (F-AIHSMC) is proposed. F-AIHSMC enables the spherical robot to have better controlled performance when facing unknown disturbances and system chattering, which can seriously affect the high-speed and high-precision motion of the spherical robot. We establish the standard dynamic model of the spherical robot for high-speed linear motion first, and then use the feedforward compensation method to compensate the controllable influencing factors in the motion process. According to the standard dynamic model, the integral term and fractional calculus methods are integrated into the hierarchical sliding mode controller, and the adaptive method is used to evaluate and compensate unknown disturbances in the high-speed motion process. In order to verify the efficiency of the proposed F-AIHSMC, we test its control effect using the BYQ-GS spherical robot. The experimental results demonstrate that, compared with the classical hierarchical sliding mode controller and the adaptive hierarchical sliding mode controller, the F-AIHSMC has obvious advantages in response speed, convergence speed, stability and robustness when being applied to the control of high-speed linear motion of spherical robot. Moreover, the advantages of its control performance are more highlighted with the increase of the speed of the spherical robot. INDEX TERMS Adaptive control, fractional calculus, hierarchical sliding mode control, high-speed motion control, spherical robot.
Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness, zero-radius turning, under-actuated, swarming, and lightweight. In addition, the research progress of special spherical robots for extraterrestrial exploration, such as wind ball, jumping ball, fly ball, ball with leg, pendulum driven ball, tensegrity structure, are reviewed respectively. Finally, the performance characteristics of all these robots are analyzed, their application scope given.
In order to improve the controllability and stability of the isolation switch breaking test for mine and to improve the intelligence level of the test and inspection device, the software program of the motor mechanism control system was developed based on PLC. Based on the analysis of the present situation of the operation mechanism of mine isolation switch breaking test, the demand of mine isolation switch breaking test control system is put forward. Based on cx-one 4.2 software and ladder diagram language, the control software program of motor mechanism is developed. The practical application shows that the software runs well and lays a foundation for the development of intelligent inspection technology.
In the normal operation of a spherical robot, its spherical shell structure is often accompanied by low velocity impact. At the same time, the spherical shell structure should take into account its protective ability against high strength impact of small probability. Glass fiber reinforced polymer (GFRP), which has high specific strength, specific stiffness, corrosion resistance and an impact energy dissipation coefficient, can be used as the ideal spherical shell material for spherical robots. In this study, the low velocity impact damage of GFRP spherical shell is studied based on the background that a thin-walled shell structure of spherical robot may suffer from large deformation and dynamic load. This study is divided into three aspects: experiment, simulation and calculation. The dynamic response and residual bearing capacity of the GFRP spherical shell is obtained through experiments; the progressive damage model of the composite structure, which demonstrates expounded stress distribution, a structural deformation mode and an energy dissipation mechanism under impact, is established based on the Hashin criterion. Low velocity impact-penetrating failure of the elastic brittle thin-walled GFRP spherical shell is calculated according to the geometrical principle and energy method. In this paper, the material dynamic behavior and impact damage of a GFRP spherical shell are systematically studied. This is of great significance for the development of high-performance spherical robots and the realization of accurate control.
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