Research On Wireless Network Feedback Control System For Airport Runway Detection Robot

With the development of modern science and technology,the aviation industry has become more and more integrated into the life of the public,which closely related to people's lives.The safety of aircraft cannot be ignored.And the airport runway safety test is one of the most important guarantees for the safety of the aircraft.The loss caused by the foreign body of the airport runway is huge in every year.Therefore,the safety test of the airport runway is an extremely important link.At present,the technology of foreign object detection at the airport runway is still developing and improving at present.The existing testing equipment includes scanning radar and automatic monitoring of vehicles.Most of the costs are really high,and there are much room for improvement.In order to solve the problem of airport runway crack and foreign object detection,we design the airport runway detection robot for detection.Under the wireless network feedback environment,the robot remote control system is constructed.In the case of network delay and network packet loss,the robot can be effectively controlled to improve the remote control efficiency of the airport runway detection robot Detect No.1.Firstly,the control scheme of the whole system of "Detect No.1" is designed,and the kinematics and dynamics model of "Detect No.1" robot in its own coordinate system is established.According to the relationship between its own coordinate system and global coordinate system,the mathematical model of "Detect No.1" robot in the global coordinate system is deduced,and the two models are compared and analyzed.Secondly,the basic problems of the control system in the wireless network environment are analyzed,which based on the structure of the wireless network control system.The problems existing in the network environment are summarized.It is concluded that the network delay and packet loss are the performance of the feedback control system of the wireless network's main problem.For the case of network delay,the generalized predictive control(GPC)algorithm is introduced into the robot's control system,and the generalized predictive control system algorithm is improved by reconstructing the objective function,which proves the stability of the improved algorithm.Then,a method for setting the buffer at the sender of the sensor and setting the delay compensator at the actuator node are designed to solve the delay problems in the network control system.Then through MATLAB simulation,the effectiveness of the algorithm is verified.Finally,this paper analyzes the packet loss problem in the wireless network control system.Based on the Truetime 2.0 simulation toolbox,a wireless network control system using GPC controller is built in the Simulink environment.The simulation experiment is obtained by setting different packet loss rates.As a result,the simulation results show that the generalized predictive control algorithm can eliminate the impact of the "detection No.1" robot in the network environment.In summary,the improved GPC algorithm designed by this paper can effectively reduce the adverse effects caused by network delay and packet loss in the system,and so as to achieve the goal of effectively controlling the motion of the robot.