Research On End Control Of Tunnel Detection Robot Based On Fuzzy Sliding Mode Algorithm

After the 21st century,China’s tunnel construction has entered a period of rapid development,and the technology of tunnel construction has become increasingly mature.China’s number of tunnels is also second to none internationally.During the service period of a tunnel,its internal lining is prone to defects such as deformation,corrosion,and voids,which can seriously threaten the normal use of the tunnel and even cause serious consequences.The use of robots can efficiently and objectively complete tunnel defect detection tasks,but current tunnel detection robots use open-loop control to control the end of the robotic arm,which is easily affected by interference factors such as mobile chassis path deviation,resulting in unstable detection signals and easy misjudgment,leading to serious consequences.This article studies the control algorithms and strategies for the end of tunnel detection robots,which has high theoretical significance and application value in improving the stability and antiinterference ability of the end of tunnel detection robots.The main research content of this article is as follows:Analyze the functional requirements of the end control of the tunnel detection robot,and based on the analysis results,complete the design and construction of the tunnel detection robot experimental platform.It includes mechanical structure,electronic control system,communication system,and software system,among which the load capacity of the end of the robotic arm can reach 16kg,which can stably lift the geological radar and provide a foundation for subsequent experiments.To address the issue of incomplete end control strategies for existing tunnel detection robots,a pose deviation conversion model is constructed during the detection process,and the data obtained from the laser displacement sensor is analyzed to obtain the pose deviation of the robotic arm end.Propose a detection and control strategy to adjust the position and pose of the geological radar in real-time based on the shape of the survey line,in order to ensure that the distance between the geological radar and the inner wall of the tunnel is always stable.A terminal control method based on improved fuzzy sliding mode algorithm is proposed to address the issue of interference caused by the path deviation of the mobile chassis in tunnel detection.This algorithm can change the gain value of the approach law according to the different end pose deviations of the robot,improve the speed and stability of the system response,and ensure the stability of the geological radar detection process and the integrity of the detection data.The simulation results show that the average absolute deviation between the actual position and the expected position of the end of the manipulator is 0.42mm when the improved algorithm tracks the changing position,while the average absolute deviation is 1.10mm when the Sliding mode control algorithm is used for tracking.When the improved algorithm tracks the changing attitude,the average absolute deviation between the expected attitude at the end of the robotic arm and the actual attitude is 3.6 × 10-4 rad,while the average absolute deviation is 9.2 × 10-4 rad when the Sliding lode control algorithm is used for tracking the results show that the stability and accuracy of the improved algorithm have been improved.Three simulation test environments were selected and designed for testing.The test results show that compared with the Sliding mode control algorithm,the improved algorithm has less fluctuation in the process of deviation correction when detecting the analog side wall measuring line.The maximum absolute deviation value of the geological radar and the detection reference line decreases by 46.6%,and the average absolute deviation value decreases by 35.3%.When detecting the simulated arch waistline,the maximum absolute deviation value between the geological radar and the detection reference line decreased by 40.1%,and the average absolute deviation value decreased by 27.7%.When detecting simulated arc measuring lines,the maximum absolute deviation value between the geological radar and the detection reference line decreased by 41.6%,and the average absolute deviation value decreased by 37.8%.This proves that the improved algorithm has better stability,stronger anti-interference ability,and overall control performance better than traditional algorithms.