Adaptive adhesion research on a negative-pressure suction wall-climbing robot based on fuzzy PID

To address the conflicting challenges of high energy consumption and low safety in negative-pressure suction wall-climbing robots, this work investigates the adhesion dynamics during vertical locomotion and proposes a system parameter-identified fuzzy PID control strategy for environment-adaptive adhesion. First, a mathematical model of the suction chamber system is established. Based on fluid dynamics, a nonlinear functional relationship is derived between the negative pressure gradient in the suction chamber and the fan rotational speed. Second, to obtain an optimal control rate, system fitting and parameter identification are performed using the existing robot, yielding a controlled autoregressive moving average model with high fitting accuracy. Finally, three different control methods are simulated and experimentally validated using this model. The results demonstrate that the steady-state time of fuzzy PID control is reduced by 50% compared to the original PID control. Moreover, when an interference signal is introduced, the fuzzy PID control exhibits faster response time and higher control sensitivity. During the prototype experiment, the fuzzy PID control not only significantly enhances system stability but also reduces energy consumption.