非接触船体喷涂爬壁机器人容错控制系统设计

Design of Fault-tolerant Control System for Non-contact Hull Spray Wall-climbing Robot

针对非接触船体喷涂爬壁机器人容错控制系统进行了相关研究。分析了船体喷漆爬壁机器人的工作原理及系统组成,然后融合BP神经网络及PID控制方法,开发具有较好容错特性的控制器,最后通过MATLAB/SIMULINK软件进行仿真研究,仿真结果表明方法有效,系统具有良好的静动态性能。

The studies are about the fault-tolerant control of the hull-spraying climbing robot. First,it analyzes the hull paint system composition and working principle of the robot. Merging the BP neural network and PID control method, and then it designs a fault tolerant control system controller. Through the MATLAB/SIMULINK simulation,the paper demonstrates the effectiveness of the proposed method which has good static and dynamic performance.