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AUTOMATIC DIRECTION CONTROL METHOD OF SMALL-DIAMETER TUNNEL ROBOT USING FUZZY CONTROL
AUTOMATIC DIRECTION CONTROL METHOD OF SMALL-DIAMETER TUNNEL ROBOT USING FUZZY CONTROL
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机译：基于模糊控制的小直径隧道机器人自动定向控制方法
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摘要
PURPOSE:To lighten the burden of an operator by controlling the head angle of the front end of a robot while the robot is pushed in and propelled in a non-earth moving type and using fuzzy control conducting the correction of the direction. CONSTITUTION:The system of a tunnel robot is composed of a tunnel robot body 1 having a head-angle correcting function, a buried pipe 2, a pipe pushing device 3 pushing in the buried pipe, a hydraulic device 4 and a console panel 5. A multiple fuzzy control regulation is used for the determination method of a head angle as the control input of directional control. When a deviation x=xo and the angle of deviation y=yo are input to the multiple fuzzy control regulation, an algebraical product-addition-centroid method and other non-fuzzy changing techniques are used for the head angle (z) of a control input. Accordingly, execution having excellent quality can be conducted.
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