대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

교량 탐사 로봇을 위한 퍼지+PID 제어기

Fuzzy+PID Controller for Bridge Inspection Robot

  • 이안용 (한양대학교 전자전기제어계측공학과) ;
  • 황영호 (한양대학교 전자전기제어계측공학과) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Lee, An-Yong (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Hwang, Young-Ho (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Yang, Hai-Won (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.)
  • 발행 : 2007.07.18
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초록

This paper presents a Fuzzy+PID control method for a Bridge Inspection Robot(BIR) system. The BIR has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. The proposed Fuzzy+PID controllers are used to track speed reference signal of X axis and position reference signal of Z axis. Experimental results verify that the proposed Fuzz+PID control design method can achieve favorable control performance with regard to external disturbance.

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