Vibration Reduction Mechanism and Control Method of Cable Climbing Robot Based on Spring-magnetorheological Damper
The cable climbing robot is affected by vibration during operation,which may lead to sliding and other unstable climbing phenomena.In order to solve this problem,firstly,experiments are carried out on a typical cable climbing robot system,and the main influencing factors of robot speed fluctuation in vibration environment are analysed.Then,an adjustable damping mechanism based on spring-magnetorheological(MR)damper is proposed,and the output force model is given.Furthermore,based on the dynamic model of the cable climbing robot system,a fuzzy PID controller with the expected climbing speed as the input variable and the current as the output variable is established.Finally,in order to verify the correctness of the above theory,the proposed spring MR damper and fuzzy PID damping control method are simulated and tested.The results show that the theoretical maximum output force of the damper is 492 N,which is basically consistent with the actual test value,and the average relative error is less than 3％;The speed fluctuation of cable climbing robot can be controlled within the range of 0.013 m/s by using the fuzzy PID damping control method based on spring-MR damper,which significantly improves the climbing stability of the robot.
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