Research On Self-adjusted Adsorption Control Of An Aircraft Skin Inspection Robot

With the rapid development of aviation technology,plenty of planes are put into commercial use.The inspection problem of plane has been related to the flight safety,which attracts attention from people.In this thesis,Aiming at the problem of the adsorption stability of the aircraft skin inspection robot on the surface,the self-adjusted adsorption control method of the aircraft skin inspection robot has been designed,and the theoretical analysis and comprehensive experiments have been carried out.First of all,the movement gaits of aircraft skin inspection robot and the modified adsorption system have been introduced.When the robot adhered to the cylindrical surface,the anti-slipping state and the anti-overturning state have been analyzed.The optimal adsorption condition is analyzed by simulation to establish the function relation between the optimal adsorption force and the robot attitude angle,which provides a theoretical reference for the self-adjusted adsorption strategy.Then,the mathematical model of the modified adsorption system has been established.In the process of the suction cup adsorbing or releasing,the air flow status has been analyzed in the jet vacuum ejector,the high frequency solenoid valve and suction cup.The fluid network model of the PWM signal duty ratio and the suction cup pressure difference has been established,and the simulation results showed the effectiveness of the self-adjusted control of the suction cup pressure difference.In addition,a self-adjusted adsorption control strategy is designed to improve the adsorption stability and movement safety of the aircraft skin inspection robot,and adjust the adsorption force with the fuselage curvature change.The switching strategy of the suction cups is discussed,and the processes of the rigid switch and flexible switch strategy are analyzed by the simulation,which indicates that the robot can keep the safety of adsorption on the surface.Finally,the experiment on the adsorption system of the aircraft skin inspection robot has been carried out.On the different angles of inclined plane,the robot stability of the self-adjusted adsorption has been discussed.According to the change of pressure difference in the suction cups caused by rigid switching strategy and flexible switching strategy,the stability and reliability of the robot are analyzed.