Abstract
In order to clean the surfaces of air ducts in underground facilities, recent research has been conducted on driving the control and development of an autonomous mobile duct-cleaning platform. The duct-cleaning robots removes contaminants that are inside a duct using the friction between a rotating cleaning brush and the duct surface. For the effective removal of the contaminants and stable steering control of the autonomous mobile platform, the interaction force between the brush and the duct surface needs to be measured. However, it is not possible to achieve an accurate measurement of the contact force for the duct surface and brush, which has a nonlinear deformation characteristic. Therefore, in this study, a simple and robust controller has been proposed. This controller integrates the backstepping method with an I-PD controller for the robust platform control against irregular external forces on the cleaning brush. In addition, various trajectory tracking simulations have been conducted and the results present stable trajectory tracking of the mobile platform in air duct cleaning.
Highlights
Ventilation in underground facilities, like subway stations, and modern buildings is carried out using air conditioning equipment and air ducts
It requires friction force control between the rotating brush and the duct surface, as well as torque control of the mobile platform, with distur‐ bances generated by the mechanical brushing
The pressing force, which is exerted by mechanical brushing, becomes the disturbance that acts on the wheels of the mobile platform
Summary
Ventilation in underground facilities, like subway stations, and modern buildings is carried out using air conditioning equipment and air ducts. The friction force that is caused by contact between the rotating brush and the duct surface is difficult to calculate analytically or to estimate, like the friction coefficient between the trajectory surface and the wheels during driving. This makes it impossible to carry out accurate dynamic modelling of the platform.
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