Research On Electromechanical Coupling Dynamic And Trajectory Tracking Control Of Wall Climbing Robot

In order to expand the application range of track walking device in the field of wall-climbing robots,combined with the project of National Natural Science Foundation of China "Electromechanical Coupling Dynamics and Adaptive Control of Multi-track Walking Device"(No.51775225),a wall-climbing robot combining negative pressure adsorption method and double-track device is designed,and the electromechanical coupling dynamic characteristics and trajectory tracking control of the wall-climbing robot are analyzed.The safe negative pressure area of wall-climbing robot operation in any posture is analyzed,the kinematics,dynamics and electromechanical coupling model of the wall-climbing robot motion device is established,and the dynamic characteristics of the brushless DC motor and virtual prototype under the joint simulation is analyzed.For the wall-climbing robot operating environment,path planning and design of motion control and trajectory tracking adaptive control algorithm are completed,and the physical prototype is bulit for verification experiments.Firstly,the research status of wall-climbing robot,electromechanical coupling mechanics and trajectory tracking control technology at home and abroad is described,the design standard of the wall-climbing robot in this paper is described,and the safe negative pressure of the robot in straight posture and any posture is analyzed,which provides a theoretical basis for the safe adsorption of the wall-climbing robot.Based on the movement characteristics of track walking device,kinematics and dynamics model of climbing robot is established,according to the working principle of the brushless DC motor,based on Simulink is to build the mathematical model of brushless DC motor and the virtual prototype model of robot is established in Recurdyn,and electromechanical coupling simulation model is established.Besides,based on kinematics and dynamics model,MATLAB program is compiled to complete the steady state motion simulation analysis under straight,counterclockwise and clockwise turns.Then,based on the brushless DC motor model,the dynamic response characteristics of the brushless DC motor under sudden load are analyzed,based on the electromechanical coupling model,the co-simulation of straight up,right down turn and right up turn are carried out,and the variation law of track velocity,centroid velocity and motor parameters with time are analyzed.The results show that the electromechanical coupling model is correct.Based on the grid method,the operating environment of the wall-climbing robot is established,and the free space and obstacles in the environment are represented by the grid.In order to ensure the path avoiding obstacles and the optimal planning principle,the ant colony algorithm is used to carry out the global path planning.For the convenience of operation personnel operating robot work,the climbing robot motion control strategy is designed,and based on UWB/IMU positioning technology,Lyapunov adaptive trajectory tracking controller is designed.Finally,the experiment prototype of wall climbing robot is bulit and the motion control and trajectory tracking control experiments are completed,which provides a reference basis in order to improve automated level for wall climbing robot.