Control And Simulation Of Flight Adsorption Robot

With the development of the robot and improvement of robot’s technology, the robot has been applied into various aspects such as the production, life, military and so on. The robot can replace labour to do some work that is difficult or dangerous. Inspired by birds can inhabit, we have already putted forward the flying and perching robot which can fly and perching on the vertical wall. The flying and perching robot makes up the disadvantage of the large power consumption and short working time in the general aircraft, overcomes the climbing robot’s inflexibility and hard crossing barriers at the same time. It can fly freely in space and fly to the specified location to perching doing some works like secret investigation and steady shooting.But the robot is still in a stage of manual control, and it requests for operator’s good ability of controlling the robot, which is unfavorable for expansibility and practicability. So we need do some researches in autonomous control to realize stable motion. This paper introduces the system platform of the flying and perching robot, details its design, and then focuses on the flight controls and the control in the process of state switch.We used the back-stepping to control the flight, and analyzed the dynamics of the robot, and applied the back-stepping control. We did some simulation comparing with the PID control. From the simulation results, the back-stepping control is more stable than the PID control. In the switching process between flying and perching, the normal flight control law will be completely failed in the constraints of external force, so we deeply studied the process.From flying to perching state, the most important control is switching from displacement control to force control, which combined with the displacement control and force control. We applies the impedance control and uses the SIMULINK to simulate. The simulation results shows that the impedance control has good traceability, can avoid the collision and keep instability in the process of perching.The flying and perching robot would quickly fall and cause damage in the switching process of the status of adsorption to the status of flying because of the action of gravity acceleration. To solve this problem, we studied the switching control of the aircraft from adsorption to the state of flying the study in this paper. First we established the dynamic model of the robot and the leakage model of adsorption system, and then analyzed the conditions of switching. After comparison and simulation using PID control and optimization control, it can be seen that PID control for speed has good effect, however optimization control is better than the simple PID control to balance the relationship between the maximal displacement and time.