Modeling and control of multi-airfoils system of exploration robot

Abstract

Most polar exploration robots use batteries or fuel engines to provide power, which greatly limits the robot’s range of motion, and may cause pollution problems, affecting the fragile external environment of Antarctica. In view of this situation, the detection robot studied in this paper adopts three sail system driven by wind directly. Firstly, referring to the wing structure, the lift and drag forces generated by the multi wing sail system are analyzed, and the coupling relationship among the thrust, roll force and lift resistance of the robot is obtained, and the lift drag coefficient function is fitted. The system dynamics of the robot in static, linear and steering motion is analyzed respectively, and the system dynamics model of the robot in different motion states is established. Then the control system of the robot is designed and manufactured. Finally, the experiment of anti sideslip ability, anti overturning ability and starting wind speed of the probe robot prototype is carried out, and the experimental data are analyzed to prove the correctness and rationality of the theoretical analysis.