Research on Trajectory Tracking Control of Wall-Climbing Robot Based on Dual-Track Magnetic Adsorption

Abstract

The dual-track magnetic adsorption wall-climbing robot is applied to the magnetic wall, and the robot has a large moving resistance. To meet the needs of small volume and large torque, a brushed DC gear motor is usually selected as the actuator. Due to the external uncertainty interference and the mechanical characteristics of the brushed DC geared motor, there are complex nonlinear time-varying problems during the robot movement. The traditional PID controller is limited to a linear system, which is difficult to fulfill the trajectory tracking requirements of the wall-climbing robot. Aiming at the trajectory deviation of the dual-track magnetic adsorption wallclimbing robot, this paper proposes a Kalman filter based RBF-PID control method, which uses the system identification ability of the radial basis function neural network to adaptively adjust the PID parameters to achieve Closed loop speed control of dual-track wall-climbing robot. In order to analyze the feasibility of the proposed control scheme, this paper builds a hardware control system with STM32F407 as the control core based on the motion characteristics of the wall-climbing robot, and develops a software control program in the Keil environment. Three sets of experiments are designed on this experimental platform, including PID control experiment, RBF- PID control experiment, and RBF-PID control experiment based on Kalman filter. Through the analysis of the experimental results, it is verified that the control scheme has good robustness and load immunity to the complex nonlinear wall-climbing robot motion control, which provides a valuable reference for the research on the motion control of the wallclimbing robot on the magnetic wall.