Design And Implementation Of The Airport Runway Detection Robot Control System

Along with the rapid development of modern industry,the security problem of plane is 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 and domestic automation equipments to detect airport runway has obtained certain achievement,it also has a lot of room for improvement.Therefore,research on the airport runway detection robot is very necessary.An airport runway detection robot control system is designed in this paper,which focuses on the motion control of the robot.Because the motion control is the foundation of intelligent detection and control by the robot,its control quality will directly affect the performance of the robot system as a whole.Therefore,the motion control is the core of the paper,make the robot achieve better control effect which based on the mathematical model,from the control algorithm to design a robot implementation.First of all,the paper proposes the overall design scheme of airport runway inspection robot system,and establishes the robot kinematics model and dynamics model in the system of proprio-coordinate.Then coordinate system is transformed,and we build the robot kinematics model and dynamics model in the global coordinate system.Besides,motion control system solutions based on two model is analyzed in detail.Secondly,we design a dual closed loop motion controller based on kinematics model.The inner ring is a PI controller of velocity,the outer ring is a sliding mode variable structure controller of position and posture,and the buffet of sliding mode controller is optimized in the paper.At the same time,the sliding mode position controller is designed based on dynamics model.We compare the position and posture control effect of two mathematical model in the MATLAB.Considering the system implementation issues such as robot hardware compatibility,we decide to use the control scheme based on the kinematics model.Finally,we design and implement the runway detection robot control system,including hardware design and software design.According to system function we adopt the hierarchical,modular design scheme.In order to complete the function of airport runway detection robot control system,we use the ARM11 master control unit together with DSP28335 motion control unit,the STM32 pose acquisition unit and Wi Fi communication unit system.It is worth mentioned that the robot has the function that support online adjustment and optimization of controller parameters.In the last,we complete the test and experiment of the robot by the remote PC monitoring system which based on LabVIEW.The experiment shows that the airport runway inspection robot has a better control performance.