飞机蒙皮检测机器人吸盘组控制分配器设计

摘要

The suckers controlling distributor was designed for the aircraft skin detection robot based on the strategy of actuator control matrix switching .The stability and flexibility are critical for the robot ’ s curvature adaptive attitude control .A controlling distributor was designed to improve the stability and flexibility of ro-bot by controlling the output of the vacuum system .First,the control allocation matrix of the controlling distributor was established based on the force analysis to the robot structure model ,and thus the controlling distributor was designed .Then,considering the possible failure of the sucker system ,the strategy of changing the priority of the suckers was used to change the weighting coefficient value of corresponding sucker . Actuator control matrix switching strategy was designed based on the mathematical model of suction safety gain.The improved redistributed pseudo inverse algorithm was used to solve the saturation problem and finally controlling simulations and tests were carried out to prove the feasibility of the distributor .%以飞机蒙皮检测机器人为研究平台，设计了基于执行器控制矩阵切换策略的吸盘组控制分配器。飞机蒙皮检测机器人的曲率自适应姿态控制的关键是吸附过程中的稳定性以及姿态调整中的灵活性问题，通过设计控制分配器控制真空负压系统改变执行器输出量达到提高机器人稳定性及灵活度的目的。首先，针对机器人结构模型进行受力分析，得到吸盘组控制分配矩阵，并在此基础上设计控制分配器；然后，考虑吸盘组出现故障的情况，采用改变吸盘优先级的故障适应策略改变吸盘对应加权系数；接着，建立吸盘组吸附安全增益数学模型，并在此基础上设计执行器控制矩阵切换策略；最后，控制分配器采用伪逆二次规划算法来避免执行器饱和问题，并通过仿真实验验证了控制分配器的可行性。