双框架飞机蒙皮检测机器人切换运动控制方法  

Switching motion control of an aircraft skin detection robot with double frames

作　　者：沈桂鹏 王从庆[1] 王琪[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《航空学报》2015年第6期2064-2073,共10页Acta Aeronautica et Astronautica Sinica

基　　金：江苏省科技支撑(工业)计划项目(BE2010190)~~

摘　　要：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。Aimed at an aircraft skin detection robot with double frames, by analyzing force of the robot when it is on the plane surface, the robot is subject to nonholonomic constraints. Dynamic model with nonholonomic constraints of the robot is built based on Newton-Euler rules. The nonholonomic robot system can be divided into subsystem A and subsystem B based on robot mechanical structure and motion gaits. In order to realize motions of the robot on the plane surface, a combination of backstepping technique and fast Terminal sliding mode control for designing the subsystem controller is presented and an backstepping-sliding mode control method is proposed; as for nonholonomic robot two-systems, a dual system switching control algorithm is given based on event-driven switching law. Finally global asymptomic tracking of robot toward expected trace is realized. The system tracking error convergenve is proof by using Lyapunov stability. Simulations and tests show that using the switching control algorithm and backstepping-sliding mode control method, the aircraft skin detection robot with double frame scan turns and crawls on plane surface freely and detects the damage. And a good reliability and stability is obtained.

关 键 词：双框架飞机蒙皮检测机器人 动力学模型 反演技术 快速Terminal滑模控制 切换策略 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP242[自动化与计算机技术—检测技术与自动化装置]