The Simulation Research Of Rotation Control System Of Hanging-cleaning Robot In Silo

As important physical foundations, grain is the essential guarantee of the human survival.As silo has advantages of high-mechanics, storage and released from barn quickly, also silobottom hang in the air without influenced by ground temperature and so on, which is a betterselect during grain storage. As an enclosed high-risk environment with feature of highnon-structures, silo is cleared by robot to clean up the grain hardened in wall of silo in thissubject.There is grain entrance at the top of the silo and exit at the bottom of the silo. Spiralmachine is installed at the entrance of the silo at the same time. It is very difficult for thecommon robot to clean up into the silo from the bottom. The robot needs to master thecircumstance every time during cleaning-up the grain in order to predict and make a judgmentabout its movement trends accurately. It is essential to design a reasonable robot withcorresponding control methods.Firstly, we designed the cleaning silo robot on the basis of detail analysis of the silostructure by taking silo clear into account in this project. The robot is put into silo verticallywith steel wire rope suspension and clears the silo by controlling the robot with constantrotation.Secondly, because our designed silo cleaning robot is a typical non-linear structure, it isdifficult to establish a precise mathematical model. We built its simple virtual model byAutomatic Dynamic Analysis of Mechanical Systems (MSC.ADAMS). Based on theprinciple of system dynamics to create virtual model, MSC.ADAMS can convert the virtualmodel to other software’s module, which is facilitate to simulation of the system. At the sametime, designers paid close attention to design of control system and made whole physicalcontrol system perfect by constant simulation.Thirdly, the cleaning robot is overhanging by steel wire rope and it is the typicalnon-linear and under actuated system. So we designed a conventional PID controller first atthe basis of the simple virtual model of cleaning robot above and verified the controllability ofthe suspension cleaning robot model and the implementation of using the suspension methodof cleaning. After that we designed a fuzzy controller on the basis of the traditional PID controller and analyzed the advantages and disadvantages between the PID controller andfuzzy controller.Finally, the co-simulation of cleaning robot control system for silo has been completedwith the co-simulation interface between the ADAMS/Controls and Simulink. Based onsimulation results, we adjusted control parameters to achieve the revolving control of the silocleaning robot.