Research On Structural Design And Control Strategy For Flying Robot With Adsorption Function

The development of a specialized detection robot will assist the military and police in carrying out such tasks as reconnaissance and surveillance in anti-terrorism security.At present,those main tasks are accomplished by surface adsorption robots and flying robots.Surface adsorption robots have the characteristics of longer endurance and are not susceptible to environmental impact,but they have larger volume and weight with slower moving speed and weaker obstacle-crossing adjustment ability.Flying robots have stronger obstacle-crossing ability,good maneuverability and wider working range,but they also have shortcomings of insufficient endurance and poor load capacity.Therefore,the development of a reconnaissance and monitoring robot with long endurance and strong flexibility leads to great application.In order to meet the needs of reconnaissance and monitor robots with long endurance and strong mobility,this paper presents a working scheme of a flying robot with adsorption function.The structure design and mechanical analysis are carried out,and the control strategy of the robot is emphatically studied.The validity and rationality of robot structure design and control strategy are verified by simulation and prototype experiment.The following studies are carried out:Firstly,a working scheme combining surface adsorption robot and flying robot is proposed,and a flying robot with adsorption function is designed to perform reconnaissance and monitoring tasks.The overall structure of the robot is designed according to the technical indicators.Through the relevant static and dynamic simulation analysis,the task planning of the robot is determined,and the theoretical basis is provided for the control strategy research of the robot and the selection of hardware devices.Secondly,according to the determined task planning of the robot,the control strategy of the robot is studied.The control process of the robot is divided into flight control and flip control.The mathematical model of flight control and flip control of the robot are established.The flight control system based on double closed-loop PID method and backstepping method is also built,and the performance of the flight control system is verified by simulation analysis.Aiming at the problem of disturbance in the flip process of simulation analysis,the flip control system based on ADRC method is proposed and simulated.Finally,according to the related mechanics simulation analysis in mission planning,a flight robot experimental platform with adsorption function is built and experimental research is carried out.The whole system of the robot is defined,and the hardware scheme of the robot control system is put forward.According to the theoretical calculation and simulation analysis,the mechanical device is selected and a prototype of the robot is built.On the basis of the task planning of the robot and based on the designed control system,the flight experiment,approaching adsorption experiment,turnover experiment,detachment experiment and whole experiment of the flying robot with adsorption function will be carried out to verify the feasibility and stability of the work,and the development will be completed.