基于阻抗控制的飞机清洗臂主动柔顺控制研究  

Research on active compliance control of aircraft’s washing arm based on impedance control

作　　者：金玉阳[1] 田忠武 李凯 熊翰韬 JIN Yu-yang;TIAN Zhong-wu;LI Kai;XIONG Han-tao(Aviation Engineering Institute,Civil Aviation University of China,Tianjin 300300)

机构地区：[1]中国民航大学航空工程学院,天津300300

出　　处：《机械设计》2022年第2期84-89,共6页Journal of Machine Design

摘　　要：针对飞机清洗臂清洗飞机蒙皮过程中的接触力控制问题,提出了基于位置的模糊自适应阻抗控制策略,开展了相关的理论分析和仿真验证研究。在阻抗控制的基础上引入自适应控制,解决了传统阻抗控制难以精确跟踪位置的问题。同时,加入模糊控制器,通过力误差实时调节阻抗参数,提高位置跟踪的准确性和稳定性。搭建MATLAB仿真平台,仿真结果表明,该方法可以准确地实现对清洗臂末端的位置控制,提高了清洗臂的跟踪效果。The aircraft’s cleaning arm is subject to the problem of contact force control when it is performing the task of cleaning the aircraft skin.In order to solve this problem,in this article,a position-based fuzzy adaptive impedance-control strategy is proposed,and the related theoretical analysis and simulation verification are carried out.Based on impedance control,adaptive control is introduced in order to solve the problem that traditional impedance control is difficult to accurately track the position.At the same time,a fuzzy controller is added to adjust the impedance parameters in real time by means of the force errors,so as to improve accuracy and stability of position tracking.The MATLAB simulation platform is set up,and the simulation results show that with the help of this method,position control of the cleaning arm’s end is realized accurately and the cleaning arm’s tracking effect has improves.

关 键 词：柔顺控制 自适应控制 阻抗控制 模糊控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]