水冷壁爬壁机器人路径跟踪研究
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摘要
准确的直线运动是水冷壁爬壁机器人完成磨损检测工作的前提,为了保证其做直线运动,设计了一种水冷壁爬壁机器人路径跟踪控制律;通过建立爬壁机器人的运动学模型,用摄像机采集水冷壁图像,对图像处理并提取直线路径,实现对其位姿的反馈,再根据Backstepping跟踪算法设计路径跟踪控制律对机器人位姿进行控制,同时采用Lyapunov稳定理论对控制律的收敛性进行验证,最后通过MATLAB软件进行仿真实验,仿真结果验证了控制律的有效性。
Accurate linear motion is the premise of the water-cooled wall climbing robot to complete the wear detection work.In order to ensure its linear motion,a water-cooled wall climbing robot path tracking control law is designed.In this paper,by establishing the kinematics model of the wall-climbing robot,the image of the water-cooled wall is captured by the camera,and the image is processed and the straight path is extracted to realize feedback on its posture.Then the path tracking control law is designed according to the Backstepping tracking algorithm to control the pose of the robot.At the same time,the convergence of the control law is verified by Lyapunov stability theory.Finally,the simulation experiment is carried out by MATLAB software.The simulation results verify the validity of the control law.
Accurate linear motion is the premise of the water-cooled wall climbing robot to complete the wear detection work.In order to ensure its linear motion,a water-cooled wall climbing robot path tracking control law is designed.In this paper,by establishing the kinematics model of the wall-climbing robot,the image of the water-cooled wall is captured by the camera,and the image is processed and the straight path is extracted to realize feedback on its posture.Then the path tracking control law is designed according to the Backstepping tracking algorithm to control the pose of the robot.At the same time,the convergence of the control law is verified by Lyapunov stability theory.Finally,the simulation experiment is carried out by MATLAB software.The simulation results verify the validity of the control law.
引文
[1]马旭旭.循环流化床锅炉水冷壁磨损分析及防护措施[J].科技与创新,2018(14):101-102.
[2]王星海.循环流化床锅炉水冷壁的磨损原因分析及防磨措施[J].现代制造技术与装备,2018(5).
[3]蒋建东,张钧,李聪聪.履带式移动机器人自主跟随算法研究[J].浙江工业大学学报,2017,45(4):355-360.
[4]张扬名,刘国荣,杨小亮.基于滑模变结构的移动机器人轨迹跟踪控制[J].计算机工程,2013-5:160-164.
[5] E Setijadi,Y Aniroh, VG Gradetsky,et al.Trajectory Tracking of a Wheeled Wall Climbing Robot Using PID Controller[A].International Conference on Advanced Mechatronics[C].2015:143-146.
[6]武星,楼佩煌,唐敦兵.自动导引车路径跟踪和伺服控制的混合运动控制[J].机械工程学报,2011,47(3):43-48.
[7]周燕红,范红.移动机器人视觉导航中基于Hough变换的直线检测与跟踪[J].微计算机信息,2012(6):129-130,115.
[8]任国华.移动机器人轨迹跟踪与运动控制[J].机械设计与制造,2014(3):100-102.
[9]Urrea C.Path Tracking of Mobile Robot in Crops[J].Journal of Intelligent& Robotic Systems,2015,80(2):193-205.
[10]闵颖颖,刘允刚.Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报(工学版),2007,37(1):51-55.
[11]杨权.智能小车的路径跟踪控制算法研究[D].绵阳:西南科技大学,2014.
[12]谢仕宏.MATLAB R2008控制系统动态仿真实例教程[M].北京:化学工业出版社,2009.
[2]王星海.循环流化床锅炉水冷壁的磨损原因分析及防磨措施[J].现代制造技术与装备,2018(5).
[3]蒋建东,张钧,李聪聪.履带式移动机器人自主跟随算法研究[J].浙江工业大学学报,2017,45(4):355-360.
[4]张扬名,刘国荣,杨小亮.基于滑模变结构的移动机器人轨迹跟踪控制[J].计算机工程,2013-5:160-164.
[5] E Setijadi,Y Aniroh, VG Gradetsky,et al.Trajectory Tracking of a Wheeled Wall Climbing Robot Using PID Controller[A].International Conference on Advanced Mechatronics[C].2015:143-146.
[6]武星,楼佩煌,唐敦兵.自动导引车路径跟踪和伺服控制的混合运动控制[J].机械工程学报,2011,47(3):43-48.
[7]周燕红,范红.移动机器人视觉导航中基于Hough变换的直线检测与跟踪[J].微计算机信息,2012(6):129-130,115.
[8]任国华.移动机器人轨迹跟踪与运动控制[J].机械设计与制造,2014(3):100-102.
[9]Urrea C.Path Tracking of Mobile Robot in Crops[J].Journal of Intelligent& Robotic Systems,2015,80(2):193-205.
[10]闵颖颖,刘允刚.Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报(工学版),2007,37(1):51-55.
[11]杨权.智能小车的路径跟踪控制算法研究[D].绵阳:西南科技大学,2014.
[12]谢仕宏.MATLAB R2008控制系统动态仿真实例教程[M].北京:化学工业出版社,2009.