CN114326392A - Control method for continuous switching motion of double-frame aircraft skin detection robot - Google Patents
Control method for continuous switching motion of double-frame aircraft skin detection robot Download PDFInfo
- Publication number
- CN114326392A CN114326392A CN202111540198.9A CN202111540198A CN114326392A CN 114326392 A CN114326392 A CN 114326392A CN 202111540198 A CN202111540198 A CN 202111540198A CN 114326392 A CN114326392 A CN 114326392A
- Authority
- CN
- China
- Prior art keywords
- double
- formula
- adsorption
- adsorption system
- minimum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 230000033001 locomotion Effects 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001179 sorption measurement Methods 0.000 claims abstract description 116
- 230000003190 augmentative effect Effects 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 9
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 239000011541 reaction mixture Substances 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention discloses a control method for continuous switching motion of a double-frame aircraft skin detection robot, which comprises the following steps: acquiring the state of an adsorption system of a double-frame aircraft skin detection robot; and controlling the adsorption system by utilizing a pre-constructed minimum adsorption force tracking controller to realize the control of the continuous switching motion of the double-frame skin detection robot. The invention can lead the double-frame aircraft skin detection robot to carry out smooth switching motion.
Description
Technical Field
The invention relates to a control method for continuous switching motion of a double-frame aircraft skin detection robot, and belongs to the field of adsorption force control of wall-climbing robots.
Background
The wall climbing robot has attracted great interest for its wide application in ship detection, welding seam detection, pipeline detection, etc. Multiple air crashes occur due to damage to the skin of the aircraft. However, the manual detection has the disadvantages of high cost, low efficiency, low precision, long working time and the like. In this context, an efficient robot for detecting the skin of an airplane is needed to replace manual detection.
The double-frame wall-climbing robot is different from a single motion structure of most mobile robots, is provided with two similar motion subsystems and two groups of sucker systems, and determines mutual switching between the two subsystems through the adsorption state of a sucker so as to realize motion control and track tracking of the robot. Because the smoothness of the switching of the adsorption system in the frame switching process has great influence on the detection precision, the minimum adsorption force control is very necessary for the detection of the robot. In the prior art, external interference and input/output delay can cause the state of the detection robot to be undetectable, and smooth switching motion cannot be carried out on an airplane shell.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a control method for continuous switching motion of a double-frame aircraft skin detection robot, which can enable the double-frame aircraft skin detection robot to perform smooth switching motion. In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a control method for continuous switching motion of a double-frame aircraft skin detection robot, which comprises the following steps:
acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and controlling the adsorption system by utilizing a pre-constructed minimum adsorption force tracking controller to realize the control of the continuous switching motion of the double-frame skin detection robot.
With reference to the first aspect, further, the pre-constructed minimum adhesion force tracking controller is constructed by:
according to the obtained state of the adsorption system, constructing an adsorption system model containing known input time delay, unknown output time delay, undetectable state and unknown external interference;
on the basis of the adsorption system model, the known input time delay is compensated by using a predictor, and the adsorption system model without the input time delay is obtained;
based on an adsorption system model without input time delay, converting unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe position output interference and an undetectable state;
obtaining an expression of minimum adsorption force and minimum adsorption force error according to the obtained state and observation result of the adsorption system, compensating unknown external interference by using a neural network, and constructing a minimum adsorption force tracking controller by using a Backstepping method based on the obtained expression and compensation result.
With reference to the first aspect, further, the adsorption system model is represented by the following formula:
wherein:
in formulae (1) and (2), P1The pressure difference in the sucker is used; h is1,h2Respectively input and output time delay; d1,d2Is an external disturbance; u is a control input; y is the control output; cgIs the flow volume of the gas in the pipeline; crThe gas flow capacity in the sucking disc containing cavity is adopted; r1Is the flow resistance in the suction cup cavity; r2Is the flow resistance from the suction cup lip to the body surface;
the pressure difference change rate in the sucker;
is P1A varying acceleration; t is time.
With reference to the first aspect, further, the obtaining the model of the adsorption system without input delay includes:
introducing a prediction state through a predictor, which is expressed as:
in the formula (3), x is a state variable, and s is an auxiliary variable;
and (3) converting the adsorption system model to obtain an adsorption system model without input time delay, wherein the adsorption system model is expressed as:
wherein，x(t+h1) Is t + h1The state of the moment of time is,
for new state variables after transformation, write as xp＝x(t+h1) (ii) satisfy
In formulae (3) and (4), A, B, C, D is represented by the following formula:
with reference to the first aspect, further, the converting the unknown output delay into the unknown output interference by using the auxiliary vector includes:
introducing an auxiliary vector, represented as:
γ(xp1(t))＝Cxp(t)-Cxp(t-h2) (6)
order to
Converting the unknown output delay into unknown output interference to obtain an adsorption system model without input and output delay, wherein the model is expressed as follows:
in equations (6) and (7), D' (x (t)) is the total interference and is represented by the following equation:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h)1) ) is a time t-h1Interference at a moment;
in the formulae (6) and (7),
Corepresented by the formula:
with reference to the first aspect, further, the establishing an augmented observer for observing the position output disturbance and the undetectable state includes:
an augmented observer was established, denoted as:
in the formula (10), the compound represented by the formula (10),
k is the intermediate auxiliary parameter, y (t) is the output variable, χ (t) ∈ R3In order to assist in the state-variable,
is composed of
S is a parameter to be designed, then:
establishing an observation error:
the system of observation errors of the observer is then augmented, expressed as:
in the formula (12), the reaction mixture is,
represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to be gradually 0;
and observing the position output interference and the undetectable state by using an augmented observer with observation errors gradually becoming 0 to obtain an observation result.
With reference to the first aspect, further, the expression for obtaining the minimum adsorption force and the minimum adsorption force error includes:
the minimum adsorption force is obtained by the following formula:
Fmin(α,β,Lg)＝max(Fsmin,Fpmin) (14)
in the formula (14), alpha is an inclination angle caused by deformation of the sucker; beta is the offset angle of the center of gravity; lg is the key offset; fpminTo minimize resistance to tipping adsorption, is represented by the formula:
in the formula (15), G is the gravity borne by the double-frame aircraft skin detection robot, and L is1The width of the double-frame aircraft skin detection robot is detected, and Hg is the distance from the gravity center to the plane where the four suckers are located;
in the formula (14), FsminThe minimum anti-slip adsorption force is represented by the following formula:
in equation (16), σ is an auxiliary parameter and is represented by the following equation:
σ＝2(μ2+1)sin(α)cos(α)Hg+cos2(α)sin(β)L1-2(μ2+1)sin(α)cos(α)cos(β)Lg-μ2sin2(α)
(17)
the minimum adsorption force error is obtained by the following formula:
in formula (18), εi(i is 1,2) is a tracking error, y ispAs new output variables, ydTo the minimum anti-slip adsorption force Fsminζ is the auxiliary control rate.
With reference to the first aspect, further, the pre-constructed minimum adhesion force tracking controller is represented by the following formula:
in the formula (19), the compound represented by the formula (I),
to estimate the weight, c1,c2,δw1,δw2Is a normal number, and is,
is a positive vector; zeta1In order to assist in the control of the rate,
to estimate the adaptive rate of change, σw1,σw2,σδ1,σδ2Is a normal number, phi is an activation function,
are each ydThe first derivative and the second derivative of (a),
is xp2Estimate of (a), gamma1，Γ2Is a preset parameter;
is composed of
The first derivative of (a) is,
is composed of
The first derivative of (a).
In a second aspect, the present invention provides a control system for a double-frame aircraft skin inspection robot to continuously switch motions, including:
an acquisition module: the system is used for acquiring the state of an adsorption system of the double-frame aircraft skin detection robot;
a control module: the method is used for controlling the adsorption system by utilizing the pre-constructed minimum adsorption force tracking controller, and realizing the control of the continuous switching motion of the double-frame skin detection robot.
In a third aspect, the invention provides a computer readable storage medium storing one or more programs, characterized in that the one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform any of the methods according to the first aspect.
Compared with the prior art, the control method for the double-frame aircraft skin detection robot to continuously switch the motion has the advantages that:
the method comprises the steps of obtaining the state of an adsorption system of the double-frame aircraft skin detection robot; the adsorption system is controlled by utilizing a pre-constructed minimum adsorption force tracking controller, so that the control of the continuous switching motion of the double-frame skin detection robot is realized; the pre-constructed minimum adsorption force tracking controller can effectively compensate and control the external interference of the double-frame aircraft skin detection robot adsorption system, can solve the problems of undetectable state, input and output delay and the like, and can ensure that the double-frame aircraft skin detection robot can perform smooth switching motion.
Drawings
Fig. 1 illustrates a state of an adsorption system of a double-frame aircraft skin inspection robot acquired in a first embodiment of the present invention;
fig. 2 is a control block diagram of a double-frame aircraft skin inspection robot for continuously switching motions according to an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
a control method for continuous switching motion of a double-frame aircraft skin detection robot comprises the following steps:
acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and controlling the adsorption system by utilizing a pre-constructed minimum adsorption force tracking controller to realize the control of the continuous switching motion of the double-frame skin detection robot.
As shown in fig. 1, a y-o-z coordinate system is established based on the ground plane in which the aircraft skin is located. And constructing a y ' -o ' -z ' coordinate system on the contact surface of the adsorption system of the double-frame aircraft skin detection robot and the aircraft shell.
The pre-constructed minimum adsorption force tracking controller is constructed by the following steps:
according to the obtained state of the adsorption system, constructing an adsorption system model containing known input time delay, unknown output time delay, undetectable state and unknown external interference;
on the basis of the adsorption system model, the known input time delay is compensated by using a predictor, and the adsorption system model without the input time delay is obtained;
based on an adsorption system model without input time delay, converting unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe position output interference and an undetectable state;
obtaining an expression of minimum adsorption force and minimum adsorption force error according to the obtained state and observation result of the adsorption system, compensating unknown external interference by using a neural network, and constructing a minimum adsorption force tracking controller by using a Backstepping method based on the obtained expression and compensation result.
The method comprises the following specific steps:
step 1: and constructing an adsorption system model containing known input time delay, unknown output time delay, undetectable state and unknown external interference according to the acquired state of the adsorption system.
An adsorption system model represented by the following formula:
wherein:
in formulae (1) and (2), P1The pressure difference in the sucker is used; h is1,h2Respectively input and output time delay; d1,d2Is an external disturbance; u is a control input; y is the control output; cgIs the flow volume of the gas in the pipeline; crThe gas flow capacity in the sucking disc containing cavity is adopted; r1Is the flow resistance in the suction cup cavity; r2Is the flow resistance from the suction cup lip to the body surface;
the pressure difference change rate in the sucker;
is P1A varying acceleration; t is time.
Step 2: based on the adsorption system model, the known input time delay is compensated by using the predictor, and the adsorption system model without the input time delay is obtained.
Introducing a prediction state through a predictor, which is expressed as:
in the formula (3), x is a state variable, eA(t-s)Representing the Laplace transformation process, and s is an auxiliary variable;
and (3) converting the adsorption system model to obtain an adsorption system model without input time delay, wherein the adsorption system model is expressed as:
wherein, x (t + h)1) Is t + h1The state of the moment of time is,
for new state variables after transformation, write as xp＝x(t+h1) (ii) satisfy
In formulae (3) and (4), A, B, C, D is represented by the following formula:
the adsorption system model without input time delay is obtained by the formula (4), and 3 conditions are required to be met:
condition 1: u (t) is bounded and differentiable: u is less than or equal to u (t)m，um＞0，umInputting an upper bound value for the unknown;
condition 2: di(t) (i ═ 1,2) is bounded and differentiable: | di(t)|≤dm，dm＞0，dmIs an unknown interference upper bound value;
condition 3: h is1Is a known bounded constant time delay, h2Is an unknown but bounded constant delay: h is2≤h2m，h2m＞0，h2mIs an unknown delay upper bound value.
And step 3: based on an adsorption system model without input time delay, unknown output time delay is converted into unknown output interference by using an auxiliary vector, and an augmented observer is established to observe position output interference and an undetectable state.
Step 3.1: and converting the unknown output time delay into unknown output interference by using the auxiliary vector.
Introducing an auxiliary vector, represented as:
γ(xp1(t))＝Cxp(t)-Cxp(t-h2) (6)
order to
Converting the unknown output delay into unknown output interference to obtain an adsorption system model without input and output delay, wherein the model is expressed as follows:
in equations (6) and (7), D' (x (t)) is the total interference and is represented by the following equation:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h)1) ) is a time t-h1Interference at a moment;
in the formulae (6) and (7),
Corepresented by the formula:
step 3.2: and establishing an augmented observer to observe the position output interference and the undetectable state.
An augmented observer was established, denoted as:
in the formula (10), the compound represented by the formula (10),
k is the intermediate auxiliary parameter, y (t) is the output variable, χ (t) ∈ R3In order to assist in the state-variable,
is composed of
S is a parameter to be designed, then:
establishing an observation error:
the system of observation errors of the observer is then augmented, expressed as:
in the formula (12), the reaction mixture is,
represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to be gradually 0;
and observing the position output interference and the undetectable state by using an augmented observer with observation errors gradually becoming 0 to obtain an observation result.
And 4, step 4: obtaining an expression of minimum adsorption force and minimum adsorption force error according to the obtained state and observation result of the adsorption system, compensating unknown external interference by using a neural network, and constructing a minimum adsorption force tracking controller by using a Backstepping method based on the obtained expression and compensation result.
Step 4.1: and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and observation result of the adsorption system.
The minimum adsorption force is obtained by the following formula:
Fmin(α,β,Lg)＝max(Fsmin,Fpmin) (14)
in the formula (14), alpha is an inclination angle caused by deformation of the sucker; beta is the offset angle of the center of gravity; lg is the key offset; fpminTo minimize resistance to tipping adsorption, is represented by the formula:
in the formula (15), G is the gravity borne by the double-frame aircraft skin detection robot, and L is1The width of the double-frame aircraft skin detection robot is detected, and Hg is the distance from the gravity center to the plane where the four suckers are located;
in the formula (14), FsminThe minimum anti-slip adsorption force is represented by the following formula:
in equation (16), σ is an auxiliary parameter and is represented by the following equation:
σ＝2(μ2+1)sin(α)cos(α)Hg+cos2(α)sin(β)L1-2(μ2+1)sin(α)cos(α)cos(β)Lg-μ2sin2(α)
(17)
the minimum adsorption force error is obtained by the following formula:
in formula (18), εi(i is 1,2) is a tracking error, y ispAs new output variables, ydTo the minimum anti-slip adsorption force Fsminζ is the auxiliary control rate.
Step 4.2: and compensating unknown external interference by using a neural network, and constructing a minimum adsorption force tracking controller by using a Backstepping method based on the obtained expression and compensation result.
A minimum adsorption force tracking controller represented by the following formula:
in the formula (19), the compound represented by the formula (I),
to estimate the weight, c1,c2,δw1,δw2Is a normal number, and is,
is a positive vector; zeta1In order to assist in the control of the rate,
to estimate the adaptive rate of change, σw1,σw2,σδ1,σδ2Is a normal number, phi is an activation function,
are each ydThe first derivative and the second derivative of (a),
is xp2Estimate of (a), gamma1，Γ2Is a preset parameter;
is composed of
The first derivative of (a) is,
is composed of
The first derivative of (a).
The method utilizes Backstepping to design a minimum adsorption force tracking controller, adopts a neural network to approach external interference, uncertain parameters and other composite interference in an adsorption system model, utilizes a predictor and an amplification observer to solve the problems of input and output delay and state immeasurability, and finally obtains the minimum adsorption force tracking controller which can enable a double-frame airplane skin detection robot to carry out smooth switching motion.
Example two:
the present example demonstrates the stability of a pre-constructed minimum adsorption force tracking controller.
Step 1: consider the following Lyapunov function:
in the formula (20), the reaction mixture is,
derivation of equation (20) yields:
using young's inequality, we obtain:
bringing equations (19), (22) - (24) into (21) yields:
wherein: c11,C21Is a normal number, expressed as:
let theta1＝C21/C11Multiplication of the formula (25)
The following can be obtained:
thus, according to equation (27), in the time period [0, t ]:
it is noted that the last term in equation (28) satisfies
Can be obtained if
Then
Step 2: for epsilon2And (5) obtaining a derivative:
consider the following Lyapunov function:
wherein:
to V2And (5) obtaining a derivative:
using the young inequality one can obtain:
substituting (32) into (19) the formulae (19), (33) and (34):
wherein: c12,C22Is a normal number, represented by the following formula:
let theta2：＝C22/C12Derived from formula (25):
then
Given a matrix Q ═ QT> 0, there is a matrix P ═ PTIs greater than 0, satisfy
The overall Lyapunov function is defined as:
since P satisfies (38), the observation error asymptotically becomes zero,
from the above analysis, V can be seen1,V2Are bounded and therefore V is also bounded. In addition, there is a T, and for all T ∈ T, the tracking error is satisfied
Thus, by selecting appropriate parameters to be designed and preset parameters, tracking errors and measurement errors can be confined to a small neighborhood.
Therefore, the pre-constructed minimum adsorption force tracking controller controls the adsorption system, and can realize the control of the continuous switching motion of the double-frame skin detection robot.
Example three:
the embodiment of the invention provides a control system for continuous switching motion of a double-frame aircraft skin detection robot, which comprises:
an acquisition module: the system is used for acquiring the state of an adsorption system of the double-frame aircraft skin detection robot;
a control module: the method is used for controlling the adsorption system by utilizing the pre-constructed minimum adsorption force tracking controller, and realizing the control of the continuous switching motion of the double-frame skin detection robot.
Example four:
embodiments of the present invention also provide a computer readable storage medium storing one or more programs, wherein the one or more programs include instructions, which when executed by a computing device, cause the computing device to perform any of the methods of embodiment one.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method for continuous switching motion of a double-frame aircraft skin detection robot is characterized by comprising the following steps:
acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and controlling the adsorption system by utilizing a pre-constructed minimum adsorption force tracking controller to realize the control of the continuous switching motion of the double-frame skin detection robot.
2. The method for controlling the continuous switching movement of the double-frame aircraft skin inspection robot according to claim 1, wherein the pre-constructed minimum adsorption force tracking controller is constructed by the steps of:
according to the obtained state of the adsorption system, constructing an adsorption system model containing known input time delay, unknown output time delay, undetectable state and unknown external interference;
on the basis of the adsorption system model, the known input time delay is compensated by using a predictor, and the adsorption system model without the input time delay is obtained;
based on an adsorption system model without input time delay, converting unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe position output interference and an undetectable state;
obtaining an expression of minimum adsorption force and minimum adsorption force error according to the obtained state and observation result of the adsorption system, compensating unknown external interference by using a neural network, and constructing a minimum adsorption force tracking controller by using a Backstepping method based on the obtained expression and compensation result.
3. The method for controlling the continuous switching motion of the double-frame aircraft skin inspection robot according to claim 2, wherein the adsorption system model is represented by the following formula:
wherein:
in formulae (1) and (2), P1The pressure difference in the sucker is used; h is1,h2Respectively input and output time delay; d1,d2Is an external disturbance; u is a control input; y is the control output; cgIs the flow volume of the gas in the pipeline; crThe gas flow capacity in the sucking disc containing cavity is adopted; r1Is the flow resistance in the suction cup cavity; r2Is the flow resistance from the suction cup lip to the body surface;
the pressure difference change rate in the sucker;
is P1A varying acceleration; t is time.
4. The method for controlling the continuous switching motion of the double-frame aircraft skin inspection robot according to claim 3, wherein the obtaining of the adsorption system model without input delay comprises:
introducing a prediction state through a predictor, which is expressed as:
in the formula (3), x is a state variable, and s is an auxiliary variable;
and (3) converting the adsorption system model to obtain an adsorption system model without input time delay, wherein the adsorption system model is expressed as:
wherein, x (t + h)1) Is t + h1The state of the moment of time is,
for new state variables after transformation, write as xp＝x(t+h1) (ii) satisfy
In formulae (3) and (4), A, B, C, D is represented by the following formula:
5. the method for controlling the continuous switching motion of the double-frame aircraft skin inspection robot according to claim 4, wherein the converting the unknown output delay into the unknown output interference by using the auxiliary vector comprises:
introducing an auxiliary vector, represented as:
γ(xp1(t))＝Cxp(t)-Cxp(t-h2) (6)
order to
Converting the unknown output delay into unknown output interference to obtain an adsorption system model without input and output delay, wherein the model is expressed as follows:
in equations (6) and (7), D' (x (t)) is the total interference and is represented by the following equation:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h)1) ) is a time t-h1Interference at a moment;
in the formulae (6) and (7),
Corepresented by the formula:
6. the method for controlling the continuous switching motion of the double-frame aircraft skin inspection robot according to claim 5, wherein the establishing of the augmented observer for observing the position output interference and the undetectable state comprises:
an augmented observer was established, denoted as:
in the formula (10), the compound represented by the formula (10),
k is the intermediate auxiliary parameter, y (t) is the output variable, χ (t) ∈ R3In order to assist in the state-variable,
is composed of
S is a parameter to be designed, then:
establishing an observation error:
the system of observation errors of the observer is then augmented, expressed as:
in the formula (12), the reaction mixture is,
represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to be gradually 0;
and observing the position output interference and the undetectable state by using an augmented observer with observation errors gradually becoming 0 to obtain an observation result.
7. The method of claim 6, wherein the expression for obtaining the minimum suction force and the minimum suction force error comprises:
the minimum adsorption force is obtained by the following formula:
Fmin(α,β,Lg)＝max(Fsmin,Fpmin) (14)
in the formula (14), alpha is an inclination angle caused by deformation of the sucker; beta is the offset angle of the center of gravity; lg is the key offset; fpminTo minimize resistance to tipping adsorption, is represented by the formula:
in the formula (15), G is the gravity borne by the double-frame aircraft skin detection robot, and L is1The width of the double-frame aircraft skin detection robot is detected, and Hg is the distance from the gravity center to the plane where the four suckers are located;
in the formula (14), FsminThe minimum anti-slip adsorption force is represented by the following formula:
in equation (16), σ is an auxiliary parameter and is represented by the following equation:
σ＝2(μ2+1)sin(α)cos(α)Hg+cos2(α)sin(β)L1-2(μ2+1)sin(α)cos(α)cos(β)Lg-μ2sin2(α)
(17)
the minimum adsorption force error is obtained by the following formula:
in formula (18), εi(i is 1,2) is a tracking error, y ispAs new output variables, ydTo the minimum anti-slip adsorption force Fsminζ is the auxiliary control rate.
8. The method of controlling a double-frame aircraft skin inspection robot for continuous switching motion according to claim 7, wherein the pre-established minimum adhesion tracking controller is represented by the following formula:
in the formula (19), the compound represented by the formula (I),
to estimate the weight, c1,c2,δw1,δw2Is a normal number, W1 0,
Is a positive vector; zeta1In order to assist in the control of the rate,
to estimate the adaptive rate of change, σw1,σw2,σδ1,σδ2Is a normal number, phi is an activation function,
are each ydThe first derivative and the second derivative of (a),
is xp2Estimate of (a), gamma1，Γ2Is a preset parameter;
is composed of
The first derivative of (a) is,
is composed of
The first derivative of (a).
9. A control system for continuous switching motion of a double-frame aircraft skin detection robot is characterized by comprising:
an acquisition module: the system is used for acquiring the state of an adsorption system of the double-frame aircraft skin detection robot;
a control module: the method is used for controlling the adsorption system by utilizing the pre-constructed minimum adsorption force tracking controller, and realizing the control of the continuous switching motion of the double-frame skin detection robot.
10. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111540198.9A CN114326392B (en) | 2021-12-16 | 2021-12-16 | Control method for continuous switching motion of double-frame aircraft skin detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111540198.9A CN114326392B (en) | 2021-12-16 | 2021-12-16 | Control method for continuous switching motion of double-frame aircraft skin detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114326392A true CN114326392A (en) | 2022-04-12 |
| CN114326392B CN114326392B (en) | 2023-07-25 |
Family
ID=81052609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111540198.9A Active CN114326392B (en) | 2021-12-16 | 2021-12-16 | Control method for continuous switching motion of double-frame aircraft skin detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114326392B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011194937A (en) * | 2010-03-17 | 2011-10-06 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| KR20140090471A (en) * | 2013-01-09 | 2014-07-17 | 엘지전자 주식회사 | Apparatus for driving motor |
| CN105867134A (en) * | 2016-04-27 | 2016-08-17 | 南京航空航天大学 | Control method for continuous switching movement of double-framework airplane skin detection robot |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN112207834A (en) * | 2020-12-10 | 2021-01-12 | 北京科技大学 | Robot joint system control method and system based on disturbance observer |
-
2021
- 2021-12-16 CN CN202111540198.9A patent/CN114326392B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011194937A (en) * | 2010-03-17 | 2011-10-06 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| KR20140090471A (en) * | 2013-01-09 | 2014-07-17 | 엘지전자 주식회사 | Apparatus for driving motor |
| CN105867134A (en) * | 2016-04-27 | 2016-08-17 | 南京航空航天大学 | Control method for continuous switching movement of double-framework airplane skin detection robot |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN112207834A (en) * | 2020-12-10 | 2021-01-12 | 北京科技大学 | Robot joint system control method and system based on disturbance observer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114326392B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107045557B (en) | Constraint-oriented sliding mode force position control method for non-singular terminal of reconfigurable mechanical arm | |
| US10226870B1 (en) | Yaw slip handling in a robotic device | |
| Saab et al. | Dynamic whole-body motion generation under rigid contacts and other unilateral constraints | |
| CN108614560B (en) | Tracking control method for visual servo performance guarantee of mobile robot | |
| US11253990B1 (en) | Robot control | |
| Xu et al. | Image-based visual impedance force control for contact aerial manipulation | |
| WO2006040867A1 (en) | Controller of leg type moving robot | |
| CN110744541A (en) | Vision-guided underwater mechanical arm control method | |
| CN111506095B (en) | Method for tracking and controlling relative pose of saturation fixed time between double rigid body feature points | |
| CN110967017B (en) | Cooperative positioning method for rigid body cooperative transportation of double mobile robots | |
| CN110209183B (en) | Six-legged robot instability adjusting algorithm based on dual-threshold value ZMP | |
| CN111522351A (en) | Three-dimensional formation and obstacle avoidance method for underwater robot | |
| Wu et al. | Adaptive extended state observer-based nonsingular terminal sliding mode control for the aircraft skin inspection robot | |
| Hung et al. | Design of a sliding mode controller for an automatic guided vehicle and its implementation | |
| CN112068440A (en) | Model prediction control-based AUV (autonomous Underwater vehicle) recovery butt joint power positioning control method | |
| CN114625129B (en) | Motion control method and system of position control leg-foot robot | |
| CN113954077B (en) | Underwater swimming mechanical arm trajectory tracking control method and device with energy optimization function | |
| CN114326392A (en) | Control method for continuous switching motion of double-frame aircraft skin detection robot | |
| CN113059561A (en) | Control method of adsorption robot | |
| Long et al. | Robotic cutting of soft materials using force control & image moments | |
| CN111176311A (en) | Sliding mode delay estimation control method for attitude of quad-rotor unmanned aerial vehicle and storage medium | |
| Hernández-Martínez et al. | Trajectory tracking for groups of unicycles with convergence of the orientation angles | |
| Ding et al. | Anti-swing control in manipulation of a deformable linear object using dynamic surface control | |
| US20220297293A1 (en) | Dynamic torque saturation limits for robot actuator(s) | |
| Jung et al. | The operational space formulation on humanoids considering joint stiffness and bandwidth limit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |