文章基本信息

标题：Motion Control System Design for a Flying-Type Firefighting System with Water Jet Actuators
本地全文：下载
作者：Dong-Hun Lee ; Thinh Huynh ; Young-Bok Kim 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2021
卷号：10
期号：10
页码：275
DOI：10.3390/act10100275
语种：English
出版社：MDPI Publishing
摘要：This paper presents the design and modeling of a flying-type fire extinguishing system. Fire accidents present very hazardous environments, and firefighters are in danger of losing their lives while putting out the fire. Strict safety measures should be considered to guarantee safe working conditions for firefighters, which is not the case every time, as fatalities and casualties are still being recorded. For this reason, a novel fire extinguishing system is proposed to provide more safe firefighting and survivor searches. The system studied in this paper is a pilot model that consists of a water jet-based actuation system to control the flying motion of the robot. The dynamic model of this flying robot is derived using the actuation forces, water jet system characteristics, and related information. The mathematical system model is detailed, a sliding-mode control system and a proportional-integral-derivative controller are designed, and comparative simulation tests are carried out.