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针对一种双框架飞机蒙皮检测机器人,通过分析该机器人在飞机表面上的受力情况,在飞机表面该机器人受到了非完整约束,基于牛顿-欧拉法建立了机器人非完整约束动力学模型。根据机器人机械结构和运动步态分析,将该非完整机器人系统分为子系统A和子系统B。为了实现机器人在飞机表面运动,采用反演技术和快速Terminal滑模控制相结合的思想对系统设计了控制器,提出了一种反演-滑模控制方法;对于非完整机器人子系统A和子系统B,设计了一种基于事件驱动的切换策略,实现了机器人对期望轨迹的全局渐近跟踪,并利用Lyapunov稳定性证明系统的跟踪误差收敛。仿真和试验表明,采用该切换策略和反演-滑模控制方法,双框架飞机蒙皮检测机器人可以在飞机表面自由运动并进行损伤检测,具有良好的可靠性和稳定性。
For a two-frame aircraft skin detection robot, the robot is subjected to non-complete constraints on the surface of the aircraft by analyzing the robot’s force on the aircraft surface. Based on the Newton-Euler method, a robot nonholonomic constraint dynamics model . According to the robot mechanical structure and gait analysis, the non-complete robot system is divided into subsystem A and subsystem B. In order to realize the movement of the robot on the surface of the aircraft, a controller is designed for the system by using the combination of inversion technique and fast terminal sliding mode control. An inversion-sliding mode control method is proposed. For the non-complete robot subsystem A and subsystem B, an event-driven switching strategy is designed to realize the global asymptotic tracking of the desired trajectory of the robot, and the convergence of the tracking error is proved by Lyapunov stability. The simulation and experiment show that using the switching strategy and the inversion - sliding mode control method, the double frame aircraft skin detection robot can move freely on the surface of the aircraft and detect the damage, with good reliability and stability.