计算机与数字工程2023，Vol.51Issue(12)：3050-3054,5.DOI:10.3969/j.issn.1672-9722.2023.12.050
基于自抗扰控制的幕墙清洗机器人姿态控制研究
Research on Attitude Control of Curtain Wall Cleaning Robot Based on Active Disturbance Rejection Control
鄢鹏1
作者信息
- 1. 上海工程技术大学机械与汽车工程学院 上海 201620
- 折叠
摘要
Abstract
Aiming at the phenomenon of external environment interference when the curtain wall cleaning robot works at high altitude,an attitude control method for the curtain wall cleaning robot based on active disturbance rejection control is proposed.Firstly,through the analysis of the working environment of the cleaning robot,a mathematical model of the cleaning robot is estab-lished.According to the principle of active disturbance rejection control,the coupling influence of each channel and the disturbance of the external environment are regarded as the total disturbance,and the expanded state observer is reasonably designed to estimate the disturbance.size and add disturbance compensation to the control volume.Through the analysis of experiments and simulation re-sults,it shows that the cleaning robot attitude controller has a good control effect,it can maintain the stability of the cleaning robot body posture,and improve the cleaning efficiency.关键词
幕墙清洗机器人/自抗扰控制/姿态控制/数学模型/姿态Key words
curtain-wall cleaning robot/active disturbance rejection control/attitude control/mathematical model/attitude分类
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鄢鹏..基于自抗扰控制的幕墙清洗机器人姿态控制研究[J].计算机与数字工程,2023,51(12):3050-3054,5.
