基于模糊滑模的爬壁机器人末端自动控制方法  

End Automatic Control Method of Wall Climbing Robot Based on Fuzzy Sliding Mode

作　　者：刘晓铭 张静[1,2] 黄国方 钟亮明[1,2] LIU Xiaoming;ZHANG Jing;HUANG Guofang;ZHONG Liangming(NARI Group Corporation(State Grid Electric Power Research Institute),Nanjing 211106,China;NARI Technology Co.,Ltd.,Nanjing 211106,China)

机构地区：[1]南瑞集团有限公司(国网电力科学研究院),江苏南京211106 [2]国电南瑞科技股份有限公司,江苏南京211106

出　　处：《机械与电子》2023年第7期42-46,共5页Machinery & Electronics

基　　金：国电南瑞科技资助项目(524608210050)。

摘　　要：由于爬壁机器人在末端控制过程中,易受信号强度变化、网络配置高低和传感器性能等因素的干扰,导致爬壁机器人末端控制速度和稳态值较低、误差较大的问题。为此,提出基于模糊滑模的爬壁机器人末端自动控制方法。首先,利用刚体上6个特征点的单方向增量,得到爬壁机器人的末端位置;然后,通过基于再生权最小二乘法,结合最优剪枝极限学习机法,对得到的末端位置进行误差补偿,以此来提高控制精度;最后,使用模糊滑模理论,推导出一种基于等效控制和切换控制的模糊滑模控制器,实现爬壁机器人的末端自动控制。实验结果表明,所提方法的自动控制速度和稳态值较高,能够有效降低自动控制误差。In the end control process of wall climbing robot,it is easy to be disturbed by factors such as signal strength change,network configuration and sensor performance,which leads to the problems of low end control speed,steady-state value and large error of wall climbing robot.Therefore,an automatic end control method of wall climbing robot based on fuzzy sliding mode is proposed.Firstly,the end position of the wall climbing robot is obtained by using the one-way increment of six feature points on the rigid body.Then,based on the least square method of regeneration weight,combined with the optimal pruning limit learning machine method,the error of the obtained end position is compensated to improve the control accuracy.Finally,using fuzzy sliding mode theory,a fuzzy sliding mode controller based on equivalent control and switching control is derived to realize the end automatic control of wall climbing robot.The experimental results show that the proposed method has high automatic control speed and steady-state value,and can effectively reduce the automatic control error.

关 键 词：模糊滑模 爬壁机器人 误差补偿 增益系数 末端自动控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]