CN114326392B - 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
- CN114326392B CN114326392B CN202111540198.9A CN202111540198A CN114326392B CN 114326392 B CN114326392 B CN 114326392B CN 202111540198 A CN202111540198 A CN 202111540198A CN 114326392 B CN114326392 B CN 114326392B
- Authority
- CN
- China
- Prior art keywords
- adsorption system
- time delay
- adsorption
- formula
- system model
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001179 sorption measurement Methods 0.000 claims abstract description 135
- 230000003190 augmentative effect Effects 0.000 claims description 19
- 238000007689 inspection Methods 0.000 claims description 11
- 125000003275 alpha amino acid group Chemical group 0.000 claims description 10
- 150000001875 compounds Chemical class 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 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 3
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000009194 climbing Effects 0.000 description 3
- 230000003416 augmentation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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 the double-frame aircraft skin detection robot; and controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as to realize the control of the continuous switching motion of the double-frame skin detection robot. The invention can enable the double-frame aircraft skin detection robot to carry out smooth switching movement.
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 is greatly interesting for wide application in ship detection, weld joint detection, pipeline detection and the like. Due to the damage of the aircraft skin, a number of air breaks occur. However, the manual detection has the defects of high cost, low efficiency, low precision, long working time and the like. In this context, there is a need for an efficient aircraft skin inspection robot that replaces manual inspection.
The double-frame wall climbing robot is different from a single motion structure of most mobile robots, and is provided with two similar motion subsystems and two groups of sucker systems, and the motion control and track tracking of the robot are realized by mutually switching the two subsystems according to the adsorption state of the sucker. The smoothness of the switching of the adsorption system in the frame switching process has great influence on the detection precision, so that the control of the minimum adsorption force is necessary for the detection of the robot. In the prior art, external interference and input/output delay can cause the condition of the detection robot to be undetectable, and smooth switching movement cannot be performed on the aircraft shell.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control method for continuous switching movement of a double-frame aircraft skin detection robot, which can enable the double-frame aircraft skin detection robot to perform smooth switching movement. In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a control method for continuously switching motion of a double-frame aircraft skin inspection robot, including:
acquiring the state of an adsorption system of the double-frame aircraft skin detection robot;
and controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as 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-built minimum adsorption force tracking controller is built by:
according to the acquired state of the adsorption system, an adsorption system model comprising known input time delay, unknown output time delay, undetectable state and unknown external interference is constructed;
based on the adsorption system model, compensating the known input time delay by using a predictor to obtain an adsorption system model without input time delay;
based on an adsorption system model without input time delay, converting the unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe the position output interference and the undetectable state;
and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and the obtained 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 the compensation result.
With reference to the first aspect, further, the adsorption system model is represented by the following formula:
wherein:
in the formulas (1) and (2), P 1 Is the pressure difference in the sucker; h is a 1 ,h 2 Respectively input and output time delay; d, d 1 ,d 2 Is an external disturbance; u is a control input; y is the control output; c (C) g Is the flow capacity of the gas in the pipeline; c (C) r The suction cup is a gas flow volume in the suction cup cavity; r is R 1 Is the flow resistance in the sucker cavity; r is R 2 Is the flow resistance from the suction cup lip to the body surface;is the pressure difference change rate in the sucker; />Is P 1 A varying acceleration; t is time.
With reference to the first aspect, further, the obtaining an adsorption system model without input delay includes:
introducing a prediction state by the predictor, expressed as:
in the formula (3), x is a state variable, and s is an auxiliary variable;
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+h 1 The state of the moment of time,written as x for the transformed new state variable p ＝x(t+h 1 ) Meeting the requirements of
In the formulas (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:
an auxiliary vector is introduced, expressed as:
γ(x p1 (t))＝Cx p (t)-Cx p (t-h 2 ) (6)
order theConverting the unknown output time delay into unknown output interference to obtain an adsorption system model without input/output time delay, wherein the adsorption system model is expressed as:
in the formulas (6) and (7), D' (x (t)) is the total interference, and is represented by the following formula:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h) 1 ) Is time t-h 1 Interference at time;
in the formulas (6) and (7),C o represented by the formula:
with reference to the first aspect, further, the establishing an augmentation observer observes a position output interference and an undetectable state, including:
an augmented observer is established, expressed as:
in the formula (10), the amino acid sequence of the compound,k isIntermediate auxiliary parameter, y (t) is output variable, χ (t) ε R 3 As an auxiliary state variable, the number of states,is->S is a parameter to be designed, and the following are:
establishing an observation error:the observation error system of the augmented observer is expressed as:
in the formula (12), the amino acid sequence of the compound,represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to gradually become 0;
and observing the position output interference and the undetectable state by using an augmented observer with the observation error gradually of 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:
F min (α,β,Lg)＝max(F smin ,F pmin ) (14)
in the formula (14), alpha is the inclination angle caused by the deformation of the sucker; beta is the offset angle of the center of gravity; lg is the offset of the emphasis; f (F) pmin The minimum anti-dumping adsorption force is represented by the following formula:
in the formula (15), G is the gravity applied by the double-frame aircraft skin detection robot, L 1 The method comprises the steps of detecting the width of a robot for a double-frame aircraft skin, wherein Hg is the distance from the center of gravity to the plane where four suckers are located;
in the formula (14), F smin The minimum anti-slip adsorption force is represented by the following formula:
in the formula (16), σ is an auxiliary parameter, and is represented by the following formula:
σ＝2(μ 2 +1)sin(α)cos(α)Hg+cos 2 (α)sin(β)L 1 -2(μ 2 +1)sin(α)cos(α)cos(β)Lg-μ 2 sin 2 (α)
(17)
the minimum adsorption error is obtained by:
in the formula (18), ε i (i=1, 2) is tracking error, y p For a new output variable, y d To minimum anti-slip adsorption force F smin ζ is the auxiliary control rate.
With reference to the first aspect, further, the pre-constructed minimum adsorption force tracking controller is represented by the following formula:
in the formula (19), the amino acid sequence of the compound,to estimate the weight, c 1 ,c 2 ,δ w1 ,δ w2 Is of normal number>Is a positive vector; zeta type 1 For assisting control rate->To estimate the adaptive rate of change, σ w1 ,σ w2 ,σ δ1 ,σ δ2 Is positive constant, phi is an activation function, +.>Respectively is y d First and second derivatives of +.>Is x p2 Is (t) is (are) the estimated value of (f) 1 ，Γ 2 Is a preset parameter; />Is->First derivative of>Is->Is a first derivative of (a).
In a second aspect, the present invention provides a control system for continuously switching motion of a double-frame aircraft skin inspection robot, comprising:
the acquisition module is used for: the method comprises the steps of acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and the control module is used for: the method is used for controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as to realize the control of the continuous switching motion of the double-frame skin detection robot.
In a third aspect, the present 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 of the first aspect.
Compared with the prior art, the control method for the continuous switching motion of the double-frame aircraft skin detection robot provided by the embodiment of the invention has the beneficial effects 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-built 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-built minimum adsorption force tracking controller can effectively compensate and control the external interference of the adsorption system of the double-frame skin detection robot, can solve the problems of undetectable states, input and output delay and the like, and can obviously enable the double-frame aircraft skin detection robot to perform smooth switching movement.
Drawings
Fig. 1 is a state of an adsorption system of a double-frame aircraft skin inspection robot obtained in the first embodiment of the present invention;
fig. 2 is a control block diagram of a double-frame aircraft skin inspection robot in a continuous switching motion in accordance with a first embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
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 the double-frame aircraft skin detection robot;
and controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as 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 minimum adsorption force tracking controller constructed in advance is constructed by the following steps:
according to the acquired state of the adsorption system, an adsorption system model comprising known input time delay, unknown output time delay, undetectable state and unknown external interference is constructed;
based on the adsorption system model, compensating the known input time delay by using a predictor to obtain an adsorption system model without input time delay;
based on an adsorption system model without input time delay, converting the unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe the position output interference and the undetectable state;
and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and the obtained 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 the compensation result.
The method comprises the following specific steps:
step 1: and constructing an adsorption system model comprising known input delay, unknown output delay, undetectable state and unknown external interference according to the acquired state of the adsorption system.
An adsorption system model, represented by the formula:
wherein:
in the formulas (1) and (2), P 1 Is the pressure difference in the sucker; h is a 1 ,h 2 Respectively input and output time delay; d, d 1 ,d 2 Is an external disturbance; u is a control input; y is the control output; c (C) g Is the flow capacity of the gas in the pipeline; c (C) r The suction cup is a gas flow volume in the suction cup cavity; r is R 1 Is the flow resistance in the sucker cavity; r is R 2 Is the flow resistance from the suction cup lip to the body surface;is the pressure difference change rate in the sucker; />Is P 1 A varying acceleration; t is time.
Step 2: based on 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.
Introducing a prediction state by the predictor, expressed as:
in the formula (3), x is a state variable, e A(t-s) Representing the Laplace transformation process, s being an auxiliary variable;
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+h 1 The state of the moment of time,written as x for the transformed new state variable p ＝x(t+h 1 ) Meeting the requirements of
In the formulas (3) and (4), A, B, C, D is represented by the following formula:
obtaining an adsorption system model without input time delay according to the formula (4), wherein 3 conditions are required to be satisfied:
condition 1: u (t) is bounded and can be made micro: the I u (t) I is less than or equal to u m ，u m ＞0，u m Inputting an upper bound value for the unknown;
condition 2: d, d i (t) (i=1, 2) is bounded and can be made micro: d i (t)|≤d m ，d m ＞0，d m Is an unknown interference upper bound;
condition 3: h is a 1 Is a known bounded constant time delay, h 2 Is an unknown but bounded constant time delay: h is a 2 ≤h 2m ，h 2m ＞0，h 2m Is the unknown upper bound of the delay.
Step 3: based on an adsorption system model without input time delay, the unknown output time delay is converted into unknown output interference by using an auxiliary vector, and an augmented observer is established to observe the position output interference and the undetectable state.
Step 3.1: and converting the unknown output time delay into unknown output interference by using the auxiliary vector.
An auxiliary vector is introduced, expressed as:
γ(x p1 (t))＝Cx p (t)-Cx p (t-h 2 ) (6)
order theConverting the unknown output time delay into unknown output interference to obtain an adsorption system model without input/output time delay,expressed as:
in the formulas (6) and (7), D' (x (t)) is the total interference, and is represented by the following formula:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h) 1 ) Is time t-h 1 Interference at time;
in the formulas (6) and (7),C o represented by the formula:
step 3.2: and establishing an augmentation observer to observe the position output interference and the undetectable state.
An augmented observer is established, expressed as:
in the formula (10), the amino acid sequence of the compound,k is an intermediate auxiliary parameter, y (t) is an output variable, χ (t) ε R 3 As an auxiliary state variable, the number of states,is->S is a parameter to be designed, and the following are:
establishing an observation error:the observation error system of the augmented observer is expressed as:
in the formula (12), the amino acid sequence of the compound,represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to gradually become 0;
and observing the position output interference and the undetectable state by using an augmented observer with the observation error gradually of 0 to obtain an observation result.
Step 4: and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and the obtained 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 the compensation result.
Step 4.1: and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the acquired state and observation result of the adsorption system.
The minimum adsorption force is obtained by the following formula:
F min (α,β,Lg)＝max(F smin ,F pmin ) (14)
in the formula (14), alpha is the inclination angle caused by the deformation of the sucker; beta is the offset angle of the center of gravity; lg is weightOffset of the point; f (F) pmin The minimum anti-dumping adsorption force is represented by the following formula:
in the formula (15), G is the gravity applied by the double-frame aircraft skin detection robot, L 1 The method comprises the steps of detecting the width of a robot for a double-frame aircraft skin, wherein Hg is the distance from the center of gravity to the plane where four suckers are located;
in the formula (14), F smin The minimum anti-slip adsorption force is represented by the following formula:
in the formula (16), σ is an auxiliary parameter, and is represented by the following formula:
σ＝2(μ 2 +1)sin(α)cos(α)Hg+cos 2 (α)sin(β)L 1 -2(μ 2 +1)sin(α)cos(α)cos(β)Lg-μ 2 sin 2 (α)
(17)
the minimum adsorption error is obtained by:
in the formula (18), ε i (i=1, 2) is tracking error, y p For a new output variable, y d To minimum anti-slip adsorption force F smin ζ is the auxiliary control rate.
Step 4.2: and (3) compensating unknown external interference by using a neural network, and constructing a minimum adsorption tracking controller by using a Backstepping method based on the obtained expression and compensation result.
The minimum adsorption force tracking controller is represented by the following formula:
in the formula (19), the amino acid sequence of the compound,to estimate the weight, c 1 ,c 2 ,δ w1 ,δ w2 Is of normal number>Is a positive vector; zeta type 1 For assisting control rate->To estimate the adaptive rate of change, σ w1 ,σ w2 ,σ δ1 ,σ δ2 Is positive constant, phi is an activation function, +.>Respectively is y d First and second derivatives of +.>Is x p2 Is (t) is (are) the estimated value of (f) 1 ，Γ 2 Is a preset parameter; />Is->First derivative of>Is->Is a first derivative of (a).
The minimum adsorption force tracking controller is designed by using Backstepping, approximation is performed by adopting a neural network aiming at external interference, uncertain parameters and other composite interference in an adsorption system model, the problems of input and output time delay and undetectable states are solved by using a predictor and an augmented observer, and the finally obtained minimum adsorption force tracking controller can enable the double-frame aircraft skin detection robot to perform smooth switching motion.
Embodiment two:
the examples of the present invention demonstrate the stability of a pre-built minimum adsorption force tracking controller.
Step 1: consider the following Lyapunov function:
in the formula (20), the amino acid sequence of the compound,
deriving formula (20), obtaining:
using the young's inequality, we get:
bringing formulae (19), (22) - (24) into (21):
wherein: c (C) 11 ,C 21 Positive constant, expressed as:
let theta 1 ＝C 21 /C 11 Multiplying (25) byThe method can obtain:
thus, according to equation (27), at time period [0, t ] it is available:
notably, the last term in equation (28) satisfies
Available ifThen->
Step 2: for epsilon 2 And (3) deriving:
consider the following Lyapunov function:
wherein:
for V 2 And (3) deriving:
using the young's inequality:
bringing formula (19), formula (33), formula (34) into formula (32):
wherein: c (C) 12 ,C 22 Is a positive constant, represented by the following formula:
let theta 2 ：＝C 22 /C 12 Obtained by the formula (25):
/>
then
Given a matrix q=q T > 0, there is a matrix p=p T > 0, satisfy
Defining the overall Lyapunov function as:
since P satisfies (38), the observed error asymptotically becomes zero,from the above analysis, it can be seen that V 1 ,V 2 Are bounded and thus V is also bounded. In addition, there is one T, and for all T E T, the tracking error satisfiesThus, by selecting appropriate parameters to be designed and preset parameters, tracking errors and measurement errors can be defined in a small neighborhood.
Therefore, the minimum adsorption force tracking controller constructed in advance controls the adsorption system, and can realize the control of continuous switching motion of the double-frame skin detection robot.
Embodiment III:
the embodiment of the invention provides a control system for continuously switching motion of a double-frame aircraft skin detection robot, which comprises the following components:
the acquisition module is used for: the method comprises the steps of acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and the control module is used for: the method is used for controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as to realize the control of the continuous switching motion of the double-frame skin detection robot.
Embodiment four:
embodiments of the present invention also provide 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 of embodiment one.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. The control method for the continuous switching motion of the double-frame aircraft skin detection robot is characterized by comprising the following steps of:
acquiring the state of an adsorption system of the double-frame aircraft skin detection robot;
the adsorption system is controlled by utilizing a pre-built 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-built minimum adsorption force tracking controller is built through the following steps:
according to the acquired state of the adsorption system, an adsorption system model comprising known input time delay, unknown output time delay, undetectable state and unknown external interference is constructed; the adsorption system model is represented by the following formula:
wherein:
in the formulas (1) and (2), P 1 Is the pressure difference in the sucker; h is a 1 ,h 2 Respectively input and output time delay; d, d 1 ,d 2 Is an external disturbance; u is a control input; y is the control output; c (C) g Is the flow capacity of the gas in the pipeline; c (C) r The suction cup is a gas flow volume in the suction cup cavity; r is R 1 Is the flow resistance in the sucker cavity; r is R 2 To be from the suction cup lipFlow resistance with the fuselage surface;is the pressure difference change rate in the sucker; />Is P 1 A varying acceleration; t is time;
based on the adsorption system model, compensating the known input time delay by using a predictor to obtain an adsorption system model without input time delay; the obtaining the adsorption system model without input time delay comprises the following steps:
introducing a prediction state by the predictor, expressed as:
in the formula (3), x is a state variable, and s is an auxiliary variable;
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+h 1 The state of the moment of time,written as x for the transformed new state variable p ＝x(t+h 1 ) Satisfies the following conditions
In the formulas (3) and (4), A, B, C, D is represented by the following formula:
C＝[1 0],/>
based on an adsorption system model without input time delay, converting the unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe the position output interference and the undetectable state;
and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and the obtained 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 the compensation result.
2. The method for controlling the continuous switching motion of a double-frame aircraft skin inspection robot according to claim 1, wherein the converting the unknown output delay into the unknown output disturbance using the assistance vector comprises:
an auxiliary vector is introduced, expressed as:
Υ(x p1 (t))＝Cx p (t)-Cx p (t-h 2 ) (6)
order theConverting the unknown output time delay into unknown output interference to obtain an adsorption system model without input/output time delay, wherein the adsorption system model is expressed as:
in the formulas (6) and (7), D' (x (t)) is the total interference, and is represented by the following formula:
in the formula (8), D (x (t)) is interference at time t; d (x (t-h 1)) is time t-h 1 Interference at time;
(6) and (7)In the process, ,C o represented by the formula:
3. the method for controlling the continuous switching motion of a double-frame aircraft skin inspection robot according to claim 2, wherein the establishing an augmented observer observes a position output disturbance and an undetectable state, comprising:
an augmented observer is established, expressed as:
in the formula (10), the amino acid sequence of the compound,k is an intermediate auxiliary parameter, y (t) is an output variable, χ (t) ε R 3 As an auxiliary state variable, the number of states,is->S is a parameter to be designed, and the following are:
establishing an observation error:the observation error system of the augmented observer is expressed as:
in the formula (12), the amino acid sequence of the compound,represented by the formula:
selecting a parameter S to be designed to enable the observation error of the augmented observer to gradually become 0;
and observing the position output interference and the undetectable state by using an augmented observer with the observation error gradually of 0 to obtain an observation result.
4. A control method for continuously switching movements of a double-frame aircraft skin inspection robot according to claim 3, 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:
F min (α,β,Lg)＝max(F smin ,F pmin ) (14)
in the formula (14), alpha is the inclination angle caused by the deformation of the sucker; beta is the offset angle of the center of gravity; lg is the offset of the emphasis; f (F) p min The minimum anti-dumping adsorption force is represented by the following formula:
in the formula (15), G is the gravity applied by the double-frame aircraft skin detection robot, L 1 The method comprises the steps of detecting the width of a robot for a double-frame aircraft skin, wherein Hg is the distance from the center of gravity to the plane where four suckers are located;
in the formula (14), F s min The minimum anti-slip adsorption force is represented by the following formula:
in the formula (16), σ is an auxiliary parameter, and is represented by the following formula:
σ＝2(μ 2 +1)sin(α)cos(α)Hg+cos 2 (α)sin(β)L 1 -2(μ 2 +1)sin(α)cos(α)cos(β)Lg-μ 2 sin 2 (α) (17)
the minimum adsorption error is obtained by:
in the formula (18), ε i (i=1, 2) is tracking error, y p For a new output variable, y d To minimum anti-slip adsorption force F s min ζ is the auxiliary control rate.
5. The method for controlling continuous switching motion of a double-frame aircraft skin inspection robot according to claim 4, wherein the pre-built minimum absorption force tracking controller is represented by the following formula:
in the formula (19), the amino acid sequence of the compound,to estimate the weight, c 1 ,c 2 ,δ w1 ,δ w2 Is a normal number, W 1 0 ,/>Is a positive vector; zeta type 1 For assisting control rate->To estimate the adaptive rate of change, σ w1 ,σ w2 ,σ δ1 ,σ δ2 Is positive constant, phi is the activation functionCount (n)/(l)>Respectively is y d First and second derivatives of +.>Is x p2 Is (t) is (are) the estimated value of (f) 1 ，Γ 2 Is a preset parameter; />Is->Is used as a first derivative of (a),is->Is a first derivative of (a).
6. A control system for continuously switching motion of a double-frame aircraft skin inspection robot, comprising:
the acquisition module is used for: the method comprises the steps of acquiring the state of an adsorption system of a double-frame aircraft skin detection robot;
and the control module is used for: the device is used for controlling the adsorption system by utilizing a pre-built minimum adsorption force tracking controller, so as to realize the control of the continuous switching motion of the double-frame skin detection robot;
the pre-built minimum adsorption force tracking controller is built through the following steps:
according to the acquired state of the adsorption system, an adsorption system model comprising known input time delay, unknown output time delay, undetectable state and unknown external interference is constructed; the adsorption system model is represented by the following formula:
wherein:
in the formulas (1) and (2), P 1 Is the pressure difference in the sucker; h is a 1 ,h 2 Respectively input and output time delay; d, d 1 ,d 2 Is an external disturbance; u is a control input; y is the control output; c (C) g Is the flow capacity of the gas in the pipeline; c (C) r The suction cup is a gas flow volume in the suction cup cavity; r is R 1 Is the flow resistance in the sucker cavity; r is R 2 Is the flow resistance from the suction cup lip to the body surface;is the pressure difference change rate in the sucker; />Is P 1 A varying acceleration; t is time;
based on the adsorption system model, compensating the known input time delay by using a predictor to obtain an adsorption system model without input time delay; the obtaining the adsorption system model without input time delay comprises the following steps:
introducing a prediction state by the predictor, expressed as:
in the formula (3), x is a state variable, and s is an auxiliary variable;
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+h 1 The state of the moment of time,written as x for the transformed new state variable p ＝x(t+h 1 ) Satisfies the following conditions
In the formulas (3) and (4), A, B, C, D is represented by the following formula:
C＝[1 0],/>
based on an adsorption system model without input time delay, converting the unknown output time delay into unknown output interference by using an auxiliary vector, and establishing an augmented observer to observe the position output interference and the undetectable state;
and obtaining an expression of the minimum adsorption force and the minimum adsorption force error according to the obtained state and the obtained 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 the compensation result.
7. A computer readable storage medium storing one or more programs, wherein the one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform any of the methods of claims 1-5.
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 CN114326392A (en) | 2022-04-12 |
| CN114326392B true 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 |
|---|---|
| CN114326392A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020253854A1 (en) | Mobile robot posture angle calculation method | |
| CN106773713B (en) | High-precision nonlinear path tracking control method for under-actuated marine vehicle | |
| CN109634307B (en) | Unmanned underwater vehicle composite track tracking control method | |
| Chen et al. | Adaptive fuzzy inverse trajectory tracking control of underactuated underwater vehicle with uncertainties | |
| CN108614560B (en) | Tracking control method for visual servo performance guarantee of mobile robot | |
| CN107065564B (en) | Neutral buoyancy robot posture and track control method based on active disturbance rejection | |
| WO2006040867A1 (en) | Controller of leg type moving robot | |
| CN109857100B (en) | Composite track tracking control algorithm based on inversion method and fast terminal sliding mode | |
| CN110716566A (en) | Limited time trajectory tracking control method of under-actuated unmanned ship | |
| CN111506095B (en) | Method for tracking and controlling relative pose of saturation fixed time between double rigid body feature points | |
| CN108267952B (en) | Self-adaptive finite time control method for underwater robot | |
| CN111007854A (en) | Under-actuated ship trajectory tracking control system | |
| CN111176318A (en) | Positioning and swing eliminating method and system for flying handling system for eliminating steady-state error | |
| Zhao et al. | Minimum base disturbance control of free-floating space robot during visual servoing pre-capturing process | |
| Wang et al. | Robust trajectory tracking and control allocation of X-rudder AUV with actuator uncertainty | |
| CN114625129A (en) | Motion control method and system of position-control leg and foot robot | |
| CN114326392B (en) | Control method for continuous switching motion of double-frame aircraft skin detection robot | |
| Qi et al. | Three-dimensional formation control based on filter backstepping method for multiple underactuated underwater vehicles | |
| CN112936277A (en) | Underwater robot-manipulator system fixed time trajectory tracking method | |
| CN115951693B (en) | Robust track tracking control method for under-actuated underwater robot | |
| CN113618743B (en) | Unmanned aerial vehicle mechanical arm tail end pose control method for multi-source interference | |
| CN111338347B (en) | Monocular vision-based limited time continuous control method for water surface aircraft | |
| CN114840947A (en) | Three-degree-of-freedom mechanical arm dynamic model with constraint | |
| Kamath et al. | Vision Augmented 3 DoF Quadrotor Control using a Non-singular Fast-terminal Sliding Mode Modified Super-twisting Controller | |
| CN114347017A (en) | Adsorption type mobile processing robot curved surface motion control method based on plane projection |
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 |