Attitude control method for steel structure damage detection robot based on genetic algorithm and fuzzy fractional order PID

Abstract

An attitude control method for a steel structure damage detection robot based on a genetic algorithm and fuzzy fractional order PID comprises the following steps: building dynamical models of a flexible damage detection robot vehicle body, wheels and a flexible steel belt, and carrying out the integration to obtain an overall robot dynamical model; establishing a motion controller of the flexible damage detection robot based on a fuzzy fractional order PID controller, and controlling the motion attitude angle of the robot model in real time; on the basis of the fuzzy fractional order PID controller, introducing an improved genetic algorithm, and efficiently and accurately setting the order of fractional order PID; and according to the obtained mathematical model and the controller, taking the pitch angle of the flexible robot as the input of the controller, and outputting the rotating torque for controlling the robot to move so as to complete real-time control over the moving posture of the robot. The flexible damage detection robot can rapidly reach the expected motion posture, buffeting can be effectively restrained, and the method has the high response speed and good stability.

Description

technical field [0001] The invention relates to a dynamic modeling of a flexible robot used for steel structure building damage detection, adjustment of front and rear car body pitch angles, and a robot motion attitude control method based on genetic algorithm and fuzzy fractional order PID control theory. Background technique [0002] At present, the most widely used damage detection methods for steel structure buildings are embedded sensor detection method and manual collection detection method. The embedded sensor detection method has problems such as fixed sensor position, difficult installation and removal, easy to be affected by the external environment, and incomplete detection parts. Bringing eddy current instruments, ultrasonic instruments, professional drones and other equipment to the site for manual data detection also has the disadvantage of consuming a lot of manpower and material resources. In the previous literature, an intelligent flexible robot was mention...

AI Technical Summary

Problems solved by technology

The large-angle pitching motion of the flexible robot body is not conducive to its own straight-line turning motion, and it is easy to cause the robot to completely lose stability under external interference

In addition, during the movement of the flexible damage detection robot, the pitch angle of the car body changes frequently, and the chattering phenomenon is obvious and strengthens with time, which eventually leads to the car body toppling over.

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