Control for an Innovative Robotics Platform of Rinsing System for Vehicles of Urban Mass Transit

The tractor-model washing system is usually used in the technical process of maintenance for the vehicles in urban mass transit system and its efficiency is lower. On the basis of study and investigation, a self-traction model system has been developed. After a vehicle set is driven by its motors to go through the washing section and the trainset stopped at certain place, the mobile robotic platform will move to the vehicle set by its two propulsive wheels driven by VVVF (variable speed and variable voltage) inverter. The washing motion of shape-adaptation and the synchronized drive of robotic platform are implemented by neutral cell self adaptive algorithm and Cross-Coupling Control (CCC) algorithm. A variable quantity water control algorithm is designed for the goal of energy-saving and water-saving. Several-year actual running shows that it can work effectively and durably.