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Synchronous Motion Control of Multi-Climbing Hydraulic Robots for High-Rise Building Construction Automation  

Hong, Yun-Suk (Department of Mechanical Engineering, Korea Univ.)
Chang, Hyo-Whan (Department of Mechanical Engineering, Korea Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.9, 2009 , pp. 103-111 More about this Journal
Abstract
Multi-climbing hydraulic robots are used to lift construction factory (CF) synchronously for applications in the automation of a high-rise building construction. In this study, synchronous motion controller is proposed for the hydraulic robots, whose strategy is not only to make each robot follow the reference path basically by sliding-mode control, but also to synchronize motions of two adjacent cent robots consecutively by cross-coupled control technique. Simulations are performed by using SIMULINK for a system similar to a practical application that includes unbalance in CF and wind disturbance. The results show that the proposed controller significantly reduces synchronous errors, compared to the individual controller for each hydraulic robot.
Keywords
Synchronous Motion Control; Cross-Coupled Control; Sliding Mode Control; Construction Automation for High-Rise Building; Climbing Hydraulic;
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