| Along with the rapid development of modern industry, the volume of passenger transport and freight transport is increasing, so the security problem of plane is also getting more and more attention from people. The safety inspection of the airport runway is an important part to ensure that the planes land and take off smoothly,and it has very important practical significance. The research of overseas automation equipments to detect airport runway is started earlier. Now several types of automation equipments have been developed.However, domestic related research is started relatively late. At present, our practical results are fewer. Therefore, research on the airport runway detection robot is very necessary.The motion detection platform based on Mecanum four-wheel omni-directional mobile robot is designed. Chassis motion control of the airport runway detection robot is the basis to realize all kinds of intelligent detection and control. Therefore, We mainly study the motion control system of airport runway detection robot. The motion control of robot is realized through all kinds of intelligent controllers, which can realize robot's omni-directional mobile quickly and steadily.First of all, the overall architecture of the airport runway detection robot is analyzed.The kinematics model of motion control system is established according to the motion analysis of the robot and the wheels, and dynamics model is established by using the method of Lagrange, and a control scheme of the motion control system is made.Secondly, two kinds of intelligent PID controllers are designed through introducing endocrine regulation mechanism and fuzzy adaptive control into the traditional PID control,and the motion control simulation of the motion control system is researched in MATLAB.Comparing to the results of the traditional PID controller, the results show that the intelligent PID controllers can improve dynamic characteristics and anti-interference performance of the system and have better control effects.Third, a motion controller based on sliding mode variable structure control is designed to implement the motion control simulation for the motion control system. Because of the buffet question of sliding model variable structure control, a method of variable rate reaching law is designed to weaken chattering. Comparing to the results of the other three motion controllers, the results show that the sliding mode motion controller based on improved approach law can improve dynamic characteristics and anti-interference performance of the system and has better control effects.Finally, the motion control system of airport runway detection robot is designed and implemented, including hardware design and software design. The test to motion control system of the airport runway detection robot is realized through PC LabVIEW and TMS320F28335 DSP development board. The test verifies the effectiveness of the motion control system, the designed motion controller can realize the omni-directional mobile of the robot. |
PDF Full Text Request