發(fā)布時(shí)間：2018-09-10 10:15

【摘要】：隨著中國航空工業(yè)迅速發(fā)展,飛機(jī)已經(jīng)與每個(gè)人的生活息息相關(guān),因此飛機(jī)蒙皮表面損傷帶來的安全隱患備受關(guān)注。然而飛機(jī)蒙皮檢測仍采用人工檢查的方式,存在勞動(dòng)強(qiáng)度大、檢測效率低、漏檢率高以及成本費(fèi)用高等問題,此外也不能夠完全保障飛機(jī)維修人員的操作安全。本文針對雙框架飛機(jī)蒙皮檢測機(jī)器人在飛機(jī)表面做穩(wěn)定步態(tài)運(yùn)動(dòng),研究了雙框架飛機(jī)蒙皮檢測機(jī)器人的切換策略與運(yùn)動(dòng)軌跡控制。首先,介紹了一種真空吸附式雙框架飛機(jī)蒙皮檢測機(jī)器人的機(jī)械結(jié)構(gòu)以及分析了在飛機(jī)蒙皮表面的運(yùn)動(dòng)步態(tài);針對該機(jī)器人的吸盤吸附系統(tǒng),描述了剛性切換和柔性切換兩種切換策略;根據(jù)檢測機(jī)器人在飛機(jī)蒙皮表面的受力分析,建立了機(jī)器人的動(dòng)力學(xué)模型。其次,根據(jù)機(jī)器人自身的特點(diǎn),設(shè)計(jì)了一種基于事件驅(qū)動(dòng)的切換策略。針對機(jī)器人非線性系統(tǒng),研究了基于支持向量回歸的自適應(yīng)控制器,利用干擾上界值設(shè)計(jì)輔助變量來估計(jì)系統(tǒng)中的外部干擾。仿真結(jié)果表明,本文所給出的基于支持向量回歸的自適應(yīng)控制律可以保證存在未知干擾的機(jī)器人系統(tǒng)有良好的軌跡跟蹤性能和魯棒性能。然后,利用切換系統(tǒng)描述飛機(jī)蒙皮檢測機(jī)器人整體姿態(tài)變化。針對切換系統(tǒng)模型,利用Backstepping方法,研究了機(jī)器人軌跡跟蹤控制方法,通過公共Lyapunov函數(shù)證明了切換系統(tǒng)的閉環(huán)穩(wěn)定。當(dāng)切換系統(tǒng)中存在未知干擾,利用Nussbaum干擾觀測器進(jìn)行了有效估計(jì),并將非線性干擾觀測器和基于Super-twisting算法的干擾觀測器與Nussbaum干擾觀測器進(jìn)行性能比較。利用平均駐留時(shí)間法證明了切換系統(tǒng)的閉環(huán)穩(wěn)定性,仿真結(jié)果表明在未知干擾的作用下,該控制器可以保證機(jī)器人切換系統(tǒng)運(yùn)動(dòng)控制的穩(wěn)定性。接著,研究了具有輸入受限、外部干擾和參數(shù)未知的飛機(jī)蒙皮檢測機(jī)器人運(yùn)動(dòng)控制方法。針對機(jī)器人系統(tǒng)存在的輸入受限問題,利用雙曲正切函數(shù)將飽和輸入轉(zhuǎn)化為光滑的控制輸入,結(jié)合Backstepping控制方法,新增的子系統(tǒng)可以有效抑制輸入受限對系統(tǒng)的影響;針對機(jī)器人系統(tǒng)中的外部干擾和未知參數(shù),設(shè)計(jì)了Nussbaum干擾觀測器并利用Lyapunov函數(shù)證明了切換系統(tǒng)的閉環(huán)穩(wěn)定性,仿真結(jié)果表明了該控制器是有效的。最后,開展了飛機(jī)蒙皮檢測機(jī)器人的運(yùn)動(dòng)控制實(shí)驗(yàn)研究,將機(jī)器人分別吸附于平面和斜面上進(jìn)行了切換運(yùn)動(dòng),對機(jī)器人的剛性切換和柔性切換兩種吸盤切換策略進(jìn)行了相關(guān)實(shí)驗(yàn)分析,驗(yàn)證了檢測機(jī)器人切換系統(tǒng)的可靠性和穩(wěn)定性。
[Abstract]:With the rapid development of China's aviation industry, aircraft has been closely related to everyone's life, so the safety risks caused by surface damage of aircraft skin have attracted much attention. However, manual inspection is still used in the detection of aircraft skin, which has many problems, such as high labor intensity, low detection efficiency, high rate of missing detection and high cost. In addition, it can not completely guarantee the operation safety of aircraft maintenance personnel. In this paper, aiming at the stable gait movement of a double-frame aircraft skin detection robot on the plane surface, the switching strategy and motion trajectory control of the double-frame aircraft skin detection robot are studied. Firstly, the mechanical structure of a vacuum adsorbed double-frame aircraft skin detection robot is introduced, and the moving gait on the surface of the aircraft skin is analyzed. In this paper, two switching strategies, rigid switching and flexible switching, are described, and the dynamic model of the robot is established according to the force analysis of the detection robot on the surface of the aircraft skin. Secondly, according to the characteristics of the robot, an event-driven switching strategy is designed. An adaptive controller based on support vector regression is studied for nonlinear robot systems. The upper bound of disturbance is used to design auxiliary variables to estimate the external disturbances in the system. Simulation results show that the proposed adaptive control law based on support vector regression can guarantee the trajectory tracking and robustness of robot systems with unknown disturbances. Then, the switching system is used to describe the whole attitude change of the aircraft skin detection robot. Aiming at the switching system model, the trajectory tracking control method of the robot is studied by using the Backstepping method. The closed-loop stability of the switching system is proved by common Lyapunov function. When there is unknown disturbance in switched systems, the Nussbaum disturbance observer is used to estimate effectively, and the performance of nonlinear disturbance observer and Nussbaum disturbance observer based on Super-twisting algorithm is compared with that of Nussbaum disturbance observer. The closed-loop stability of the switching system is proved by the mean dwell time method. The simulation results show that the controller can guarantee the stability of the robot switching system motion control under the action of unknown disturbance. Then, the motion control method of aircraft skin detection robot with limited input, external interference and unknown parameters is studied. Aiming at the problem of input limitation in robot system, the hyperbolic tangent function is used to transform the saturated input into smooth control input. Combined with the Backstepping control method, the new subsystem can effectively suppress the influence of input restriction on the system. Aiming at the external disturbance and unknown parameters of robot system, the Nussbaum disturbance observer is designed and the closed-loop stability of the switched system is proved by using Lyapunov function. The simulation results show that the controller is effective. Finally, the motion control experiment of the aircraft skin detection robot is carried out. The robot is adsorbed on the plane and the oblique plane respectively. Based on the experimental analysis of rigid switching and flexible switching, the reliability and stability of the robot switching system are verified.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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