Research On Modeling And Motion Control Of Airport Runway Detection Robot

With the development of science and technology and the economy,more and more people are considering the use of aircraft as a travel tool.Therefore,the safety of aircraft has become the focus of attention.Among the many safety issues,the safety of the aircraft during the take-off and landing phase is particularly important,and the detection of the airport runway is one of the methods to ensure the safety of the aircraft during take-off and landing.At present,many kinds of airport runway detection equipment have appeared at home and abroad.The existing detection equipment includes scanning radar and automatic monitoring of vehicles,each with its own characteristics.This dissertation studies the motion modeling and motion control of an airport runway detection robot.Due to the non-linearity and parameter uncertainty of the robot,the traditional PID control method has a poor control effect and is prone to the problem of deviating from the trajectory.Therefore,in this paper,a mathematical model of the system is established,and an adaptive algorithm is designed.Sliding mode motion controller was inversed,simulation research of control method and experimental verification of actual system were performed.The results show the correctness of the model and the effectiveness of the controller design.First,the paper gives the overall design plan of the airport runway detection robot(patrol inspection No.1).The robot system is divided into three parts: a dual DSP drive control subsystem,an ARM11 motion control and information processing subsystem,and a remote monitoring subsystem.The subsystems of the robot are described.Aiming at this robot system,the kinematics model of the system was established by the coordinate transformation method,and then the system dynamics model was established by the Newton’s mechanical equation method and the Lagrange’s equation method,respectively,and the part was modeled on the basis of the Newton’s mechanical equation method.Parameters were identified.The two methods of establishing dynamic model are analyzed,and the robot system is determined to adopt the system dynamic model based on Lagrange’s equation method.Secondly,due to the model uncertainty of some parameters in the system dynamics model and the nonlinear characteristics of the system itself,this paper adopts a strategy combining Backstepping method and adaptive sliding mode control method to design a method based on adaptive inversion.The backstepping design method is used to design an adaptive sliding mode controller,and the motion control law and parameter adaptive law of the robot system based on the adaptive inverse sliding mode control method are derived.In Matlab simulation environment,a comparison simulation experiment with traditional PID motion controller is performed.The results show the correctness of the dynamic model and the validity of the motion controller design.Finally,a physical verification experiment of the airport runway detection robot system was carried out.The results show that in the actual operation control,the robot system using the adaptive inverse sliding mode controller designed in this paper can accurately track the predetermined trajectory and has good control performance compared with the traditional PID control robot.