Research On Hydraulic Servo Control And Path Planning Of Large Scale Steel Structure Facade Working Robot

In recent years,cross-regional economic development and offshore resource exploitation have greatly promoted the country's investment in engineering equipment such as ships,offshore drilling platforms,and offshore oil and gas storage tanks.Marine engineering equipment has long been faced with pollution and seawater corrosion problems.In order to improve the service life and reliability of the equipment,it is necessary to carry out maintenance operations such as regular cleaning and spraying of the equipment.For many years,cleaning and maintenance operations have been mainly done manually,which is inefficient and will cause damage to human health as time passes.This article aims to design a robot to clean and maintain the large steel structure of marine engineering equipment,which will reduce the burden of manual work and improve efficiency.On the basis of domestic and foreign large-scale steel structure facade work robot related technology research,combined with the characteristics of offshore engineering equipment,the robot performance requirements and schemes studied in this paper are established.A magnetic adsorption crawler is designed,different magnetic circuits are compared to choose a solution with less magnetic force loss as an alternative structure of the robot's magnetic adsorption;A retractable cleaning structure and a swing spraying structure are designed to meet different operational requirements.The adsorption stability of the large-scale steel-structured vertical work robot under five motions is analyzed,the influence trend of the robot's attitude angle and wall inclination on the adsorption force is analyzed,and the minimum adsorption force of the magnetic adsorption unit under stable conditions is obtained through the curve.A large-scale steel structure facade operation robot control plan is designed,including the lower computer and the upper computer;Based on the lower computer control plan,the robot control hardware,hydraulic motor and reducer are selected;A valve-controlled hydraulic motor model is established,and provide feedback and feedback The speed response of hydraulic motor under load change with and without PID controller is compared and analyzed.Finally,by comparing the speed response of the hydraulic motor under the control of fuzzy PID and ordinary PID,it is determined to use fuzzy PID as the controller scheme in this paper to improve the motion performance of the robot.In response to the autonomous operation requirements of large-scale steel structure facade robots,the robot's working surface is modeled based on the grid method;the evaluation index of the complete traversal path planning algorithm is established,and the experimental method is used to compare the internal spiral method and the round-trip method based on the grid map.By comparing the two traversal methods,the method that suits the requirements of this article is selected;By combining the water ripple method and the A-Star point-to-point path search algorithm to make robot,of which the path planning trapped in the dead corner,to escape from the dead corner;The A-Star path search result linked list is processed to reduce the path length And the number of turns;the sliding mode control method is used to control the robot to track the target trajectory,and the simulation method is used to verify the performance of the trajectory tracking control algorithm in combination with the positioning prediction model.Experimental analysis on the robot prototype is performed,the air pump pressure method is used to determine the sealing performance of the robot controller sealed cabin and the encoder cabin;By conducting the normal pull experiment on the two selected magnetic circuits,the type B magnetic circuit is determined as the adsorption unit based on the result data Magnetic circuit;By using the host computer to control the robot to carry out the experiment of walking at a fixed distance and at different speeds,and the experiment of the robot at fixed speed and angular speed,the motion performance of the robot is verified.