Research On Sliding Mode Control Of Inspection Robot

The inspection robot is a typical mobile robot.With the increase of the complexity of the application scene and the increase of uncertainties in the operation,the control of the inspection robot should be more precise,among which attitude control is the key to the work of the inspection robot.In this dissertation,in order to improve the control performance of the inspection robot,the inspection robot control model is established,and the sliding mode variable structure is used to design the corresponding controller to realize the attitude control and trajectory control of the inspection robot.Firstly,according to the designed inspection robot,combined with the kinematics model and dynamics model of the robot,the control model of the robot is reconstructed.The inspection robot drive wheel armature voltage is used as the input control amount to control the speed and angle of the robot.The speed and angle can be split into two independent control subsystems,and the controller design method is simplified.In practical applications,the drive wheel armature voltage can be adjusted with PWM,which has good physical achievability.On this basis,a double closed-loop trajectory control system is designed,and the trajectory tracking of the inspection robot is completed.Secondly,due to the various uncertainties in the actual operation of the inspection robot,the stable operation of the system is adversely affected,for example,the uncertainty disturbance caused by the armature voltage fluctuation.In order to improve the system pair,the robustness of the disturbance is designed by the equivalent sliding mode control method,and the stability of the system is proved by Lyapunov stability analysis method.The attitude and trajectory control of the inspection robot under disturbance conditions are realized.Thirdly,The chattering phenomenon is generated when the sliding surface is reached by the system and the response speed is not high because the equivalent sliding mode control method is used.Therefore,combined with the second order sliding mode control theory and the global Terminal sliding mode surface,the second order sliding mode variable structure control method based on the global Terminal sliding mode surface is proposed,The response speed of the system can be farther improved,and the chattering of the sliding mode can be suppressed.The effectiveness of the proposed method is verified by simulation experiments.