基于DSP技术的爬壁机器人吸附控制系统设计

Design of Adsorption Control System of Wall Climbing Robot Based on DSP Technology

壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。

Wall adsorption is one of the basic functions of a wall climbing robot,and its adsorption degree directly affects the stability and moving speed of the wall climbing robot.Therefore,a wall climbing robot adsorption control system based on DSP technology is designed.Select the sensor device MPU6050 of the wall climbing robot,add the digital signal processor TMS320F28335,and design the adsorption controller of the wall climbing robot by PD control.A corresponding mathematical model is constructed according to the composition structure and working principle of the wall climbing robot.According to the mathematical model,DSP technology is used to calculate the adsorption force of the wall climbing robot.Through the force analysis results of the wall climbing robot on the wall,the safe adsorption conditions of the wall climbing robot are determined.The adsorption controller is used as the actuator to realize the adsorption control of the wall climbing robot.The negative pressure wall climbing robot is selected as the test prototype.The system test shows that compared with two comparison systems under three wall environments of ceramic tile,wood board and glass,the control error of the wall climbing robot's adsorption force is reduced by 2.04 N,and the overturning risk coefficient is reduced by 0.29,which has good adsorption control effect.