连续型飞机油箱检查机器人路径跟随研究

发布时间：2018-07-28 16:03

【摘要】：为提高飞机油箱检查维护效率,减轻机务人员工作强度,研究适用于飞机油箱检查的机器人。连续型机器人以其细长的结构和优良的弯曲性能,可用于结构约束的狭小空间中。因此,使用连续型机器人进行油箱检查作业。本文主要研究连续型机器人对已规划路径的跟随控制问题。(1)根据飞机油箱检查的需求设计了连续型机器人柔性机构和具有可扩展性的驱动机构。柔性机构以碳纤维杆作为轴心支架,采用线驱动远程控制方式;驱动机构采用卷绕方式实现对驱动线的位移控制,驱动电机纵向环形布局,具有占据空间小、易于扩展的特点。(2)分析建立连续型机器人的单关节段和多关节段运动学模型,得到各关节段坐标系间的齐次变换矩阵。推导关节空间与驱动空间的映射关系,通过几何分析得到驱动线折线弯曲时求解线长变化量的数学表达式,为控制蛇臂运动奠定基础。(3)研究了基于关节段末端点与路径重合思想的连续型机器人路径跟随控制算法。对于空间共面路径,采用基于二分法求解方程的算法进行跟随;对于空间异面路径,提出基于已知点的步进逼近算法进行跟随。基于MATLAB进行路径跟随仿真实验研究,并提出路径跟随性能评价指标。仿真实验验证了路径跟随算法对不同路径的适用性和有效性。(4)设计了基于姿态和驱动力反馈的连续型飞机油箱检查机器人控制系统,并在样机平台上进行了实际实验。使用欧拉角法分析蛇臂坐标系的旋转变换关系,将姿态传感器测量的RPY姿态角转换为可用于蛇臂姿态控制的ZYZ欧拉角。针对蛇臂运行中的各驱动线速度不协调及姿态控制振荡问题,设计了速度控制策略,提高蛇臂运行的快速性和稳定性。基于VC++设计控制系统软件,进行蛇臂单关节段、两关节段的运动控制实验和路径跟随实验,结果验证了基于姿态和驱动力反馈控制的有效性和稳定性。
[Abstract]:In order to improve the efficiency of the inspection and maintenance of the aircraft fuel tank and reduce the working intensity of the crew, the robot suitable for the inspection of the aircraft fuel tank is studied. Because of its slender structure and excellent bending performance, continuous robot can be used in narrow space with structural constraints. Therefore, a continuous robot is used to check the fuel tank. In this paper, the following control problem of the planned path for continuous robot is studied. (1) the flexible mechanism and the extensible driving mechanism of continuous robot are designed according to the requirements of aircraft fuel tank inspection. The flexible mechanism takes the carbon fiber rod as the axis support, adopts the line drive remote control mode, the driving mechanism uses the winding way to realize the displacement control of the drive line, the longitudinal ring layout of the driving motor has small occupied space, It is easy to be extended. (2) the kinematics models of single and multi-joint segments of continuous robot are analyzed and the homogeneous transformation matrix among coordinate systems of each joint segment is obtained. The mapping relationship between joint space and drive space is deduced, and the mathematical expression for calculating the variation of line length is obtained by geometric analysis. It lays a foundation for the control of snake arm motion. (3) A continuous robot path following control algorithm based on the idea of joint end point and path coincidence is studied. For spatial coplanar paths, the algorithm based on dichotomy to solve equations is used to follow, and for spatial heterogeneous paths, a step approximation algorithm based on known points is proposed to follow. The path following simulation experiment based on MATLAB is carried out, and the evaluation index of path following performance is put forward. The simulation results show that the path following algorithm is applicable and effective to different paths. (4) A continuous aircraft fuel tank inspection robot control system based on attitude and driving force feedback is designed and tested on the prototype platform. The RPY attitude angle measured by the attitude sensor is converted to the ZYZ Euler angle which can be used to control the attitude of the snake arm by using the Euler angle method to analyze the rotation transformation of the snake arm coordinate system. In order to improve the speed and stability of the snake arm, a speed control strategy is designed to solve the problems of the miscoordination of the driving speed and the attitude control oscillation in the operation of the snake arm. The control system software is designed based on VC, and the motion control experiment and path following experiment of single joint segment and two joint segment of snake arm are carried out. The results verify the validity and stability of attitude and driving force feedback control.
【学位授予单位】：中国民航大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V267;TP242

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