Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Modeling and Attitude Control of an Inspection and Cleaning Robot for Wind Turbines

풍력발전기 진단 및 청소를 위한 로봇의 모델링 및 자세제어

  • Kong, Jin-Young (School of Mechanical Systems Engineering, Kookmin University) ;
  • Lee, Jae-Soon (Department of Mechanics and Design, Kookmin University) ;
  • Kang, Yeon-Sik (School of Automotive Engineering, Kookmin University) ;
  • Cho, Baek-Kyu (School of Mechanical Systems Engineering, Kookmin University)
  • 공진영 (국민대학교 기계시스템공학부) ;
  • 이재순 (국민대학원 기계설계학과) ;
  • 강연식 (국민대학교 자동차IT융합학과) ;
  • 조백규 (국민대학교 기계시스템공학부)
  • Received : 2014.02.13
  • Accepted : 2014.05.22
  • Published : 2014.09.01
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Abstract

Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration, so the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.

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References

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