| 高压输电线巡线机器人控制体系构建及动作控制器设计 |
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| 引用本文： | 王鹏,刘锋,梅生伟,王克非.高压输电线巡线机器人控制体系构建及动作控制器设计[J].清华大学学报(自然科学版),2011(7):921-927. |
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| 作者姓名： | 王鹏 刘锋 梅生伟 王克非 |
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| 作者单位： | 清华大学电机工程与应用电子技术系电力系统及发电设备控制和仿真国家重点实验室 |
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| 基金项目： | 科技部国际科技合作项目(2008DFB10050) |
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| 摘 要： | 为了提高巡线机器人行走的自主性和稳定性,构建了高压输电线路巡线机器人的综合控制构架。进一步考虑模型误差、外部干扰和摩擦等不确定因素,建立了机器人动力学模型。设计了机器人行走的4类基本动作的鲁棒控制律。为验证所提出的控制体系机构与鲁棒控制算法的有效性,利用Matlab软件搭建仿真环境,以常规控制器为比较对象,对巡线机器人的单个动作、组合动作以及越障过程进行了仿真分析。结果表明:所提出的控制律可使机器人运动更迅速,稳定地实现控制目标,综合效果优于常规控制器。
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| 关 键 词： | 高压输电线路 巡线机器人 鲁棒控制 |
Control structure establishment and control method design for high-voltage (HV) power transmission lines inspection robot |
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| WANG Peng,LIU Feng,MEI Shengwei,WANG Kefei.Control structure establishment and control method design for high-voltage (HV) power transmission lines inspection robot[J].Journal of Tsinghua University(Science and Technology),2011(7):921-927. |
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| Authors: | WANG Peng LIU Feng MEI Shengwei WANG Kefei |
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| Institution: | (State Key Laboratory of Control and Simulation of Power System and Generation Equipments,Department of Electrical Engineering,Tsinghua University,Beijing 100084,China) |
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| Abstract: | A robot control system was developed based on a dynamic model of inspection robots for a class of utility inspection robots with high autonomy for power transmission lines.The model includes model errors,disturbances,and friction in reality.On the basis of this model,a robust control law was derived and Matlab was used to simulate the individual robot motion,combined motion and obstacle spanning for the robust control law and a conventional control law.The results verify the feasibility and advantages of the control method. |
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| Keywords: | high-voltage power transmission lines inspection robot robust control |
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