Design And Research Of Control System About Variable Magnetic Device Of Underwater Wall Climbing Robot

Underwater Wall-Climbing Robot(UWCR) is an important branch of the areas of robots, which has a broad application prospect in ship cleaning, petroleum chemical industry, fire protection, construction and other fields. UWCR has been Continuously concerned by the scientific and technical scholars at home and abroad.UWCR is an ultimate machine robot,which involves the subjects of mechanical,control,electronic,sensor,information and the others. UWCR is a kind of automatic mechanical device of high-altitude limit operation,which can replace the persons to finish the task of dangerous areas thus, more and more people pay attention to it. Analysising the force of UWCR and its control system is a key component of UWCR, and can ensure the safe and effective adsorption and mobile robot in the magnetic conduction on the wall. Among them, the movement of the force analysis, construction design and control hardware control mode, is the main content of UWCR variable magnetic feet sucker control system design.This thesis firstly summarizes the research status and development trend of UWCR control system. And then through the force analysis of the UWCR in the magnetic wall, the relationship of UWCR variable magnetic feet sucker critical adsorption force and angle were determined, and a simulation analysis of variable magnetic sucker permanent magnet feet by ANSYS software, provide the basis for the design of magnetic control and magnetic adsorption device.Analysising the fuzzy control system, “T-S” mode of fuzzy control principle and characteristics. According to the characteristics of “T-S” mode of fuzzy control, based on the “T-S” model and the mathematical model and algorithm; control hardware design AT89C52 microcontroller as the core, the selection of sensors and stepper motor, and to design the related circuit, write the fuzzy PID controller; using MATLAB software respectively for conventional PID controller and based on “T-S”model of fuzzy neural network PID controller simulation results, verify the anti-jamming ability, adaptive ability and tracking performance of wall climbing robot control system under water. After the research of the fuzzy neural network control about “T-S” model, “T-S” fuzzy control mode and the algorithm are conbined with the mode of motion of UWCR in different position of magnetic force, which determines the stable adsorption of requirements,building the hardware of the control of AT89C52 microcontroller. The selection of sensors and servo motor in design of transceiver and the drive circuit,the preparation of fuzzy PID,comparing the conventional PID and “TS”fuzzy PID simulation by using MATLAB software verifying UWCR of the antiinterference ability,adaptive ability and tracking performance of the system of control.Research on control system of UWCR variable magnetic feet sucker, improving the UWCR of unknown complex strain capacity of the environment, and ensure coordination between robots magnetic adsorption mechanism moves in the magnetic wall surface and adsorption.