| With the rapid development of the aviation industry,the cleaning workers in the height of the cleaning operation there is a great risk.Therefore,the use of automatic cleaning is the inevitable trend of aircraft surface cleaning mode.In order to avoid damaging the aircraft fuselage,it is necessary to accurately control the position of the cleaning arm and the size of the contact force when the aircraft cleaning arm is cleaning the aircraft.So,improving the compliance of the cleaning arm is the key to complete the cleaning task.Aiming at the problem of contact force control in the process of cleaning the aircraft skin of the cleaning arm,this paper studies the impedance control,including the identification of the dynamic parameters of the cleaning arm,the construction of the test prototype and the research of the intelligent impedance control of the cleaning arm.(1)The structure,hardware and control system of the test prototype of the aircraft surface cleaning arm are established.In order to improve the accuracy of impedance control,it is necessary to compensate the factors that affect the dynamics.The dynamics model of the cleaning arm is established by using the method,and a regression model for the identification of the dynamics parameters of the cleaning arm is designed.The model only needs to obtain the data of position and velocity,which reduces the time of data collection.Finally,the validity of the designed cleaning arm prototype is verified by experiments.And based on this prototype,the established dynamic parameter identification regression model is verified by experiments,and the experimental results show that the model is effective.(2)Aiming at the problem of contact force control in the process of cleaning aircraft skin by aircraft cleaning arm,a position based fuzzy adaptive impedance control strategy was proposed.Grounded on the impedance control,it is difficult to track the position for conventional impedance control,but the adaptive control can solve this problem,and improve the accuracy of the position tracking.Build up simulation platform,the results show that the method can control the position of the end of the cleaning arm,and improve the tracking effect of the cleaning arm.(3)The cleaning arm can not meet the tracking requirements due to environmental problems such as abrupt stiffness change caused by aircraft surface structure change.So,an adaptive control method based on recursive fuzzy wavelet neural network(RFWNN)is designed.This method takes the impedance parameter as a variable,and uses RFWNN to estimate it,which reduces the computational complexity,and introduces a stability coefficient to ensure the stability of the variable impedance system.Aiming at the disturbance and saturation problem in the control system,the fuzzy dynamic surface controller is used to eliminate the external disturbance.Finally,the effectiveness of the proposed method is verified by simulation. |
