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DIRECTION AND POSITION CONTROLLER FOR TUNNEL ROBOT AND CONSTITUTION METHOD FOR N-DIMENSIONAL LINEAR DISCRETE TIME SYSTEM PROBABILITY MODEL
DIRECTION AND POSITION CONTROLLER FOR TUNNEL ROBOT AND CONSTITUTION METHOD FOR N-DIMENSIONAL LINEAR DISCRETE TIME SYSTEM PROBABILITY MODEL
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机译：N维线性离散时间系统概率模型的隧道机器人方向与位置控制器及其构成方法
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摘要
PURPOSE: To attain the accurate direction control of tunnel robot by changing the arithmetic algorithm according to the inclination of a planned line, the dispersion scale of the disturbance noises such as the change of the soil property, etc., and the dispersion scale of the measured noise when the position deviation caused against the planned line of the robot main body which is pushed in by propulsion and a non- earth removal system is fetched and then the head core is calculated. ;CONSTITUTION: A controller A controls the angle θh of a head attached to the tip of a tunnel robot and is provided with an Acemole(R) dynamics 1 which inputs the head angle θh and outputs the position deviation caused against the planned line of the robot main body through a dynamics model of Acemole(R) (a small tunnel robot). Then a Kalman filter 2 fetches the position deviation calculated by an external measuring instrument based on an n-dimensional linear discrete time system probability model that is acquired from the dynamics model so that an n-dimensional state vector is estimated. An optimum regulator 3 multiplies this state vector by an n-dimensional gain matrix to calculate the angle θh. The angle θh is outputted by an actuator which controls the robot head angle.;COPYRIGHT: (C)1996,JPO
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机译：目的：通过根据规划线的倾斜度，土壤性质的变化等干扰噪声的扩散尺度，以及土壤的扩散尺度来改变算术算法，以实现隧道机器人的精确方向控制。当获取由推进力和非除尘系统推入的机器人主体的计划线引起的位置偏差，然后计算出磁头芯时的实测噪声。 ;构成：控制器A控制安装在隧道机器人末端的头部的角度θ h ，并具有输入头部角度θ h的Acemole®dynamics 1 ，并通过一个小型隧道机器人Acemole（R）的动力学模型输出相对于机器人主体的规划线引起的位置偏差。然后，卡尔曼滤波器2基于从动力学模型获取的n维线性离散时间系统概率模型来获取由外部测量仪器计算出的位置偏差，从而估计n维状态向量。最佳调节器3将该状态向量乘以n维增益矩阵以计算角度θ h 。角度θ h 由执行器输出，该执行器控制机器人的头部角度。;版权：（C）1996，JPO
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