Study On Stability Of Fire-fighting Flying Robot Used For High-rise Building

Along with the rapid development of economy, the urbanization process is promoted,more and more high-rise buildings have been built. Some convenience have been brought by the high-rise buildings, but it also make us face a new problem: high-rise building fire rescue and firefighting. In recent years, there are a large number of high-rise building fire cases in the domestic, so does in the abroad. To solve the high-rise firefighting problem is very important for saving life and property security. Based on an overall consideration of coaxial double rotor, four rotor aircraft, culvert flywheel and intelligent fire gun, a new type of firefighting robot was put forward in this paper. It can draw fire hose to high altitude, detect the fire location, sprinkle fire-fighting foam to the fire and adjust flight attitude by its own detection system, fire extinguishing system and attitude adjustment system. The main contents of the paper include:1. The overall design of high-rise building fire-fighting flying robot was conducted in this paper. The function, structure, working principle and working process of the robot was introduced. And the overall parameters of the robot were ensured;2. The movement of six-rotor aircraft(main part of high-rise building fire-fighting robot)was studied in this paper, and its kinetic model was built according to the Newton-Euler equations. The design of fuzzy self-adaptive PID controller was accomplished, and the controller was testified by the Matlab/Simulink simulation system;3. The stability of robot was analyzed on the aspects of flying robot and the external environment disturbance, and its cross wind resistance and self-stability was studied. Based on the ADAMS macro program, the tractive performance of traction rope was simulated and analyzed with bushing model on the ADAMS platform. With the aid of the tractive performance, the robot can be better droved by controlling traction wheel reasonably and make the robot remain stable in flight;4. Mooring test with limited freedom and air flight experiment were conducted by the six-rotor aircraft. And the flying principle correctness of aircraft, the stability of structure andthe function of traction rope to aircraft were testified, which will be the foundation of further research.