Design and analysis of a line-walking robot for power transmission line inspection

Wang, Ludan; Liu, Fei; Xu, Shaoqiang; Cheng, Sheng; Zhang, Jianwei

doi:10.1109/icinfa.2010.5512095

Cited by 4 publications

(1 citation statement)

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“…However, the overhang configuration creates another problem: gravity-caused friction. Because of this, the friction between the rail and mover roller is inconsistent and varies during operation [7][8][9]. Some custom guide rails can be designed separately according to user needs [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Design and Position Control of Overhang-Type Rail Mover Using Dual BLAC Motor

Cho

Lee

2021

Energies

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This paper presents the design and position control scheme of an overhang-type rail mover system driven by a dual Brushless AC (BLAC) motor with a simple Hall position sensor inside each motor. The overhang-type roller is chosen to reduce the slip between the roller and rail surface due to gravity. The BLAC motors are used to provide smooth translation along the rail and effective turning. Imbalances on any part of the motor and the simplicity of the Hall position sensor can create additional disturbance load, unsteady movement, and position errors. To reduce the sudden moving position error between the two motors, a balancing compensator with a Proportional-Differential (PD) position controller, which is based on the instantaneous speed and position trajectories, is presented. Furthermore, speed and position reference models are designed to compensate for the low Hall sensor resolution in the low-speed range. Therefore, steady-state position errors can then be regulated simply by using the instantaneous speed and position information. Experiments were performed to verify the viability of the proposed system and control. The results show a significant improvement in roller translation along the rail and stopping position accuracy.

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