爬壁机器人固定/有限时间滑模轨迹跟踪控制研究  

Exploring Fixed/Finite Time Sliding Mode Trajectory Tracking Control of Wall Climbing Robott

作　　者：赖欣[1] 李嘉禾 彭天宇 张晨蕾 王森 LAI Xin;LI Jiahe;PENG Tianyu;ZHANG Chenlei;WANG Sen(School of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区：[1]西南石油大学机电工程学院,成都610500

出　　处：《机械科学与技术》2022年第7期1085-1094,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：四川省科技厅应用基础研究面上项目(2019YJ0311);国家安监局2018安全生产重大事故防治关键技术项目(sichuan-0006-2018AQ);油气藏地质及开发工程国家重点实验室项目(PLN2020-10);国家级大学生创新创业训练项目(S202010615024);西南石油大学“大学生开放性实验重点项目”(KSZ119330)。

摘　　要：针对轮式爬壁机器人轨迹跟踪精度问题,本文提出一种利用固定/有限滑模变结构算法构建的双闭环轨迹跟踪控制系统。双闭环分别采用外环位置控制器输出期望线速度和内环姿态控制器输出期望角速度,根据爬壁机器人运动学方程和运动学误差方程分别设计了固定时间滑模和有限时间滑模控制来实现爬壁机器人跟踪轨迹,完成了直线、正弦、圆轨迹跟踪仿真测试。仿真结果表明固定/有限滑模在跟踪精度、收敛速度和收敛时间上优于普通滑模控制,提高了爬壁机器人的跟踪性能。To improve the trajectory tracking accuracy of a wheeled wall-climbing robot,this paper constructs a double closed-loop trajectory tracking control system with the fixed/finite sliding mode variable structural algorithm.The double closed-loop control system uses the outer loop position controller to output the desired linear velocity and the inner loop attitude controller to output the desired angular velocity.According to the wall-climbing robot's kinematics equation and kinematic error equation,the fixed-time sliding mode control and the finite-time sliding mode control are designed to achieve the tracking of the trajectory of the wall-climbing robot;the simulation of the linear,sine,and circular trajectory tracking has been completed.The simulation results show that the tracking accuracy,convergence speed and convergence time of the fixed/finite sliding mode control is better than those of the ordinary sliding mode control,thus improving the tracking performance of a wall-climbing robot.

关 键 词：爬壁机器人 双闭环控制 轨迹跟踪 固定时间滑模控制 有限时间滑模控制 

分 类 号：TG156[金属学及工艺—热处理]