Coordinated Control Method Research Of Aircraft Surface-cleaning Manipulator

Aircraft civil is exposed to contact with a variety of pollutants in daily use. Such as airborne sand, dust, sea salt spray flying, mist, etc., which will affect the appearance of the aircraft and cause corrosion. Aircraft surface cleaning has become an important part in maintenance operation. However domestic aircraft surface cleaning stages basic stay in manual cleaning operation or using auxiliary machinery systems. This cleaning method is labor intensive, high-risk, low efficiency. Therefore, we need a kind of autonomous platform for aircraft surface cleaning operations.This paper first conducted a needs analysis of aircraft surface cleaning jobs, proposed aircraft surface cleaning manipulator functional requirements. On the basis of the needs analysis, it described the structure and produced a prototype platform. Then the simple regular and inverse kinematics was analyzed on the prototype structure.Secondly, on the existing prototype platform, the basic motion controller has been designed. DC servo motor speed has been controlled by PID method and remote control of single joint has been realized by client interface. For achieving the cleaning effect of the cleaning mechanism and coordinated control of mobile platform and cleaning manipulator, an institution self-positioning method based on information fusion of compass and odometer has been proposed. The end of the cleaning brush positioning control has been completed in use of inverse kinematics. And through the laser scanner, the method of anti-collision was proposed.Finally, this paper uses RBF neural network method to estimate parameters of the dynamic characteristics of the cleaning institution. Adaptive controller is designed based on this. The coordinated control between the manipulator and the end brush is completed and it has finished the tracking of the end trajectory.