钢结构壁面机器人模糊控制系统设计  

Design of Fuzzy Control System of Wall-climbing Robot for Steel Structures

作　　者：罗义 范勤 LUO Yi;FAN Qin(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education,Wuhan Universityof Science and Technology,Wuhan Hubei 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081

出　　处：《机床与液压》2018年第11期7-10,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(11472200)

摘　　要：为进行钢结构壁面的探伤检查,对壁面机器人的控制系统进行了设计,并对自动模式下实现机器人智能避障功能的模糊控制效果进行了测试。根据机器人的设计背景、适用场合和功能,设计了相应结构特点的机器人;对机器人的控制系统的各个组成模块进行了设计和选型,并基于模糊控制理论设计了自动避障需要的模糊控制器。通过Matlab软件对设计的模糊控制器进行系统测试,生成的模糊控制查询表可用于模糊控制程序的编写,测试结果较好地验证了设计需要实现的模糊控制效果。In order to detect the flaws on the wall of steel structures,the control system of the wall-climbing robot is designed,and the fuzzy control effect which is used to realize the function of the robot＇s intelligent barrier-avoiding in automatic mode is tested.The robot owning the corresponding structural features was designed based on the design background,the application occasions and the functions. The every composition modules of the robot＇s control system were designed and selected,and the controller needed by the automatic barrier-avoiding was designed based on the fuzzy control theory. The designed fuzzy controller was tested by the software of Matlab. The generating look-up tables of the fuzzy control can be used to write the programs of the fuzzy control. The fuzzy control effect needed to realize has been well validated by the testing results.

关 键 词：钢结构检测 组成模块 智能避障 模糊控制 系统测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]