| 摘要: | For a control system, using the static performance of a sensor is always a milestone of dynamic performance of the system. The static performance of a proximity sensor plays an important role due to it affects the dynamic properties quality of a mobile robot and the results of dynamic identification. A proximity sensor is a common sensor to search a metal guideline for a mobile robot. If the signal of a proximity sensor is unstable or noisy, it gets more disturbances for a mobile robot control.
In this study, the hand-made measurement system is successful developed, and 6 types of metals are measured. Beside, through a detailed study of theoretical knowledge and by some empirical methods of the conveyor belt sytem, the relationship of the parameters can be determined, such as: velocity, sensing distance, dimension of material, thickness of material, and so on.
Through measurement, the static and dynamic performances of a proximity sensor can be fast evaluated and analyzed, respectively. The experimental results show that the signals of ferrous, non-ferrous and alloy metal tape have giant differences. Simultaneously, for the dynamic measurement, the shape as the output signal depends both the type of sensor being used and thickness of material, velocity, sensing distance.
Determining how to rapidly and efficiently control a mobile robot therefore becomes the key point in using the measurement technique of static and dynamic performance.
In the future, to exploit the effectiveness of using proximity sensors, multiple coils are arranged in a row to precisely measure the horizontal displacement of a metal target to a tenth of a millimeter. A micro-controller evaluates the damping of the different coils by the target and thereby calculates the exact position. The measurement result is independent on the precision of the vertical guidance of the target. |
