基于自抗扰控制的幕墙清洗机器人姿态控制研究  

Research on Attitude Control of Curtain Wall Cleaning Robot Based on Active Disturbance Rejection Control

作　　者：鄢鹏 YAN Peng(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《计算机与数字工程》2023年第12期3050-3054,共5页Computer & Digital Engineering

摘　　要：针对幕墙清洗机器人高空作业时存在外界环境干扰的现象,论文提出了一种基于自抗扰控制的幕墙清洗机器人姿态控制方法。首先,通过对清洗器机器人作业环境的分析,建立清洗机器人数学模型,根据自抗扰控制原理,将各通道耦合影响和外部环境的扰动视为总扰动,合理设计扩张状态观测器,估计出扰动大小并在控制量中添加扰动补偿。通过实验与仿真结果分析,该清洗机器人姿态控制器具有良好的控制效果,能够维持清洗机器人本体姿态的稳定,提高清洗效率。Aiming at the phenomenon of external environment interference when the curtain wall cleaning robot works at high altitude,an attitude control method for the curtain wall cleaning robot based on active disturbance rejection control is proposed.Firstly,through the analysis of the working environment of the cleaning robot,a mathematical model of the cleaning robot is estab-lished.According to the principle of active disturbance rejection control,the coupling influence of each channel and the disturbance of the external environment are regarded as the total disturbance,and the expanded state observer is reasonably designed to estimate the disturbance.size and add disturbance compensation to the control volume.Through the analysis of experiments and simulation re-sults,it shows that the cleaning robot attitude controller has a good control effect,it can maintain the stability of the cleaning robot body posture,and improve the cleaning efficiency.

关 键 词：幕墙清洗机器人 自抗扰控制 姿态控制 数学模型 姿态 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]