一种幕墙清洗机器人姿态控制算法的研究

Research on attitude control algorithm of Curtain wall Cleaning robot

幕墙清洗机器人在玻璃表面清洗时,在空中的姿态会发生很大的晃动,会影响机器人在壁面的清洗和能否安全的越过障碍物。根据以上问题设计出一款多涵道幕墙清洗机器人,对其姿态控制算法进行研究,设计出增量式滑模控制器。通过数据传感器采集到一定量的姿态角度值,利用MATLAB进行仿真,研究出姿态角度随时间变化的曲线图,在有外界扰动和未受到外界扰动的情况下,通过滑模控制算法保证幕墙清洗机器人在空中沿X轴,Y轴,Z轴的姿态角度不会发生大范围的晃动,保持稳定,该控制算法具有良好的鲁棒性。

When the curtain wall cleaning robot is cleaning on the glass surface,the posture of the robot in the air will shake in a large range,which will affect the cleaning of the robot on the wall and whether it can safely cross the obstacles.In view of the above problems,a multi-channel curtain wall cleaning robot is designed,and its attitude control algorithm is studied,and an incremental sliding mode controller is designed,and data sensing is used A certain amount of attitude angle value is collected by the controller,and the curve of attitude angle changing with time is studied through MATLAB simulation.In the case of external disturbance and no external disturbance,the sliding mode control algorithm is used to ensure that the attitude angle of curtain wall cleaning robot in the air along the X-axis,Y-axis and Z-axis will not change in a large range and remain stable.The control algorithm has good performance Robustness.