SIMULATION METHOD OF CLIMBING HYDRAULIC ROBOT AND CONSTRUCTION FACTORY

摘要

PURPOSE: A simulation method of a construction factory and a climbing hydraulic robot is provided to perform simulation applied for individual control algorithm for the climbing hydraulic robot and synchronization control algorithm, thereby accurately predicting each synchronization control performance. CONSTITUTION: A basis load condition is designed for establishing the total mass and size of a construction factory structure(S1). A cylinder is designed for a design step of the basis load condition(S2). A construction factory increasing condition is designed based on a real construction field condition(S3). Simulation is performed in a simulink environment by using a MATLAB model of the construction factory structure and a climbing hydraulic robot(S4). A control algorithm inspection is performed for inspecting tracking control and synchronization control performance(S5). [Reference numerals] (AA) Start; (BB) End; (S1) Designing basic load conditions; (S2) Designing a cylinder satisfying the base load conditions; (S3) Designing CF increasing conditions; (S4) Simulation applying each control algorithm; (S5) Inspecting control performance by changing the maximum climbing speed and a coulomb frictional force