多旋翼爬壁机器人设计与控制方法

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关键词：多旋翼飞行；爬壁；数学模型；滑模控制；自适应控制

DOI：10.15938/j. jhust.2025.04.001

中图分类号：TP242.6 文献标志码：A 文章编号：1007-2683（2025）04-0001-10

Research on Design and Control Method Multi-rotor Wall-climbing Robot

XU Linsen 1，2，3 ， ZHU Jian’，CAI Jianchen’， MEI Huan’， ZHANG Zhuangzhuang' （1. ，

2. Key Laboratory Intelligent Manufacturing Technology and Equipment，Changzhou 213OOo，

3.Suzhou Research Institute Hohai University，Suzhou 215OOO，China）

Abstract：Thispaperpresentsthedesignamulti-rotorwal-climbingrobotcapableperformingthetasksbothtraditional wal-climbingrobotsanddrones.Toadressthecontrolchallngesduringmode transitions，acontrolschemecombiningadaptive controlandsliding modecontrolisproposedtomitigatetheinstabilitycausedbymodeswitching.Theschemeincludesslidingmode controlforgroundmovementandactivedisturbancerejectionslidingmodecontrolforflightmode.Slidingmodecontrolisusedto achieveystemstablity，whileadaptivecontrolompensatesforunknondisturbances，alowingtherobottoetivelyandeeteal perturbationsandinteralparametervariationsforprecisecontrolincomplexenvironments.Aditionaly，theminimumthrust requirementforwal-climbingmodeiscalculated.Aftercompletinghardwareselection，stwaredevelopment，andprototype manufacturing，experimental results show that the robot achieved a ground movement speed 6.57 m/min and a 75o wall-climbing speed 2.78m/min.Compared to traditional dual-loop PIDcontrol，theproposed method reduces the maximum errorby 24.7% ： Theseresultsvalidatethedesign'sefectiveness，practicality，androbustness，demonstratingitsabilitytomeetdiversetask requirements.

Keywords：multi-rotor flight；wall climbing；mathematical model； sliding mode control；adaptive control

0 引言

多旋翼爬壁机器人是一种具有独特设计理念的创新型机器人，同时具备传统爬壁机器人和无人机的任务执行能力[1]。（剩余10082字）