Bai Yucheng

The Mechanism of a Snake-Like Robot's Clamping Obstacle Navigation on High Voltage Transmission Lines

In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented. The three typical locomotion modes of a snake-like robot, that is, rectilinear locomotion with a Zshaped clamping mechanism, obstacle navigation locomotion with a head part clamping mechanism and winding obstacle navigation locomotion, are discussed. The motion mechanism of the snake-like robots head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced. The position tracking algorithm and the improved algorithm of robots clamping obstacle navigation are also proposed. Finally, the simulation experiment verifies that the improved position tracking algorithm can improve the robots motion performance and is feasible in the robots clamping obstacle navigation.

Overhead high-voltage transmission line deicing robot system and experiment study

Based on the further study of high-voltage transmission line deicing environment, this paper proposed a wheel milling deicing device and a compound deicing robot that can have double wheel milling and compressing wheel rolling simultaneously; implemented deicing experiment and obstacle negotiation simulation analysis on the transmission and robot mechanic system; proposed an obstacle negotiation navigation control method based on electromagnetic sensors, and finally implemented deicing experiment and obstacle negotiation experiment on deicing robot prototypes. The experiment demonstrates the feasibility of electromagnetic navigation technology in leading robot in obstacle negotiation, and also shows that it’s possible to use compound deicing method of milling and compressing wheel rolling.Based on the further study of high-voltage transmission line deicing environment, this paper proposed a wheel milling deicing device and a compound deicing robot that can have double wheel milling and compressing wheel rolling simultaneously; implemented deicing experiment and obstacle negotiation simulation analysis on the transmission and robot mechanic system; proposed an obstacle negotiation navigation control method based on electro-magnetic sensors, and finally implemented deicing experiment and obstacle negotiation experiment on deicing robot prototypes. The experiment demonstrates the feasibility of electromagnetic navigation technology in leading robot in obstacle negotiation, and also shows that its possible to use compound deicing method of milling and compressing wheel rolling.

On-line identification and compensation methods of Permanent magnet flux linkage fluctuations

A kind of flux linkage identification method for Permanent magnet synchronous servo motor (PMSM) based on model reference adaptive recognition system method (MARS) is proposed in this paper. And the flux linkage fluctuation compensation method is introduced to minimize the influences of flux linkage fluctuations. These methods can improve the motor control performance such as low speed stability, high speed stationarity and position accuracy. The simulation and experiment confirmed that identifications method can estimate the real flux linkage value, and also they also can improve position control precision of PMSM.

Research on Multi-axis Synchronous Control in Network CNC System

This paper investigated the multi-axis synchronous control in a typical CNC system. The necessity of utilizing field bus is identified. In addition, the effect of jitter and skew on CNC system is analysed. A novel set-up scheme for network CNC system and corresponding EtherCNC protocol are proposed. The network topology and frame structure and the principle are introduced in detail. The hardware precision time protocol realization method is proposed. The effect of jitter on position precision controlling was validated with the experimental characterization of the proposed scheme.