1、3200 英文单词，英文单词，16500 英文字符英文字符，中文，中文 5200 字字 文献出处：文献出处： Wang C, Parker G. Analysis of rotary brush control characteristics for a road sweeping robot vehicleC/2014 International Conference on Mechatronics and Control (ICMC). IEEE, 2014: 1799-1804. Analysis of Rotary Brush Control Characteristics for a
2、 Road Sweeping Robot Vehicle Chong Wang；Graham Parker Abstract This paper discusses some aspects of brush control techniques for a concept of a novel semi-autonomous road sweeper. One of the main difficulties of developing such a robot sweeping vehicle is that the general characteristics of the swee
3、ping brushes are not well known. This study employs a FE model that calculates the brush deformation to assist the controller design. Using the FE model some useful brush characteristics, such as the stiffness and the deformation geometry can be obtained. The analysis suggests that brush characteris
4、tics may vary significantly at different operating points and introduce considerable challenges to the servo control strategies. The FE modeling results may be utilized to predict these characteristics and to develop a more adaptive brush servo controller. A simulation of such a predictive brush con
5、troller is then introduced for road sweeping automation. Keywordsroad sweeper; sweeping brush; brush modeling; brush control I. INTRODUCTION Today road-sweeping vehicles are extensively employed for cleaning highways and public areas. Most road sweepers use a set of brushing gear to sweep debris and
6、 utilize a suction unit to pick up. Normally two rotary cup brushes, also called channel brushes, are mounted on both sides of a sweeper to remove debris near the edge of the road. A long roller brush is mounted under the chassis to remove debris from the road center. Channel brushes need much more attention from the operator, since previous references have shown that more than 80% debris lies in a 20-inch wide area beside the road curb 1. An operator usually controls the brushing force,
