Measurement of Static Performance of Inductive Proximity Switch for a Mobile Robot

摘要

For a control system, the static performance of a sensor is always a milestone of dynamic performance of the system. The static performance of a proximity switch plays an important role due to it affects the dynamic properties quality of a mobile robot and the results of dynamic identification. A proximity switch is a common sensor to search a metal guideline for a mobile robot. If the signal of a proximity switch is unstable or noise, it is more disturbance for a mobile robot control. Hence, a static performance evaluation of a proximity switch is basic technology for a mobile robot and will be proposed in this paper. When a proximity switch is used to search a signal of a metal tape as guideline for a mobile robot, there are giant effect so different metals such as diamagnetism, paramagnetism and ferromagnetism in materials. In this paper, the hand-made measurement system is successful development, and 6 types of metals are measured. Through measurement, the static performance of a proximity switch can be fast evaluated and analyzed, respectively. The experiment result shows that the signals of diamagnetism, paramagnetism and ferromagnetism metal tape in materials are giant differences. By using the developed measurement system of this study, the effects of different metals can be fast determined respectively. And base on this static performance, the dynamic performance of a proximity switch can be fast and precisely evaluated. Determining how to rapidly and efficiently control a mobile robot therefore becomes the key point in using the measurement technique of static performance.