Electric inspection robot operating posture control method and device

A technology of power inspection and operation posture, applied in the field of data processing, can solve the problems of power inspection robot safety accidents, poor obstacle avoidance performance, poor skid resistance, etc.

Active Publication Date: 2018-10-19
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practice, it has been found that the electric power inspection robot controlled by the above-mentioned existing control method is easily disturbed by wind, weather...

Method used

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  • Electric inspection robot operating posture control method and device
  • Electric inspection robot operating posture control method and device
  • Electric inspection robot operating posture control method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] see figure 1 , figure 1 It is a schematic flow chart of a method for controlling the running posture of an electric power inspection robot provided in Embodiment 1 of the present invention. Among them, such as figure 1 As shown, the control method for the running attitude of the power inspection robot may include the following steps:

[0079] S101. Establish a linearized model of the running posture of the electric inspection robot, and calculate a sliding surface equation based on the linearized model.

[0080] In this embodiment, the state variables of the power inspection robot are defined as follows:

[0081]

[0082] Among them, θ 1 is the rotation angle of the power inspection robot, θ 2 is the rotation angle of the movable joint of the power inspection robot, and are θ 1 and θ 2 angular velocity.

[0083] Then the state equation of the power inspection robot is:

[0084]

[0085] Among them, m 1 is the mass of the main body of the power inspec...

Embodiment 2

[0095] see figure 2 , figure 2 It is a schematic flow chart of a method for controlling the running attitude of an electric power inspection robot provided in Embodiment 2 of the present invention. Among them, such as figure 2 As shown, the control method for the running attitude of the power inspection robot may include the following steps:

[0096] S201. Establish a linearized model of the running posture of the electric inspection robot, and calculate a sliding surface equation based on the linearized model.

[0097]In this embodiment, the linearized model of the running posture of the power inspection robot is:

[0098]

[0099]

[0100]

[0101]

[0102] in,

[0103]

[0104] Among them, x=[x 1 ,x 2 ,x 3 ,x 4 ] T is the state vector of the power inspection robot, a 21 、a 41 、a 23 , b 4 is the coefficient of the linearized model.

[0105] Please also refer to Figure 5 , Figure 5 It is a schematic diagram of a wire-loaded model of a power...

Embodiment 3

[0164] see image 3 , image 3 It is a schematic structural diagram of a control device for an electric patrol robot running attitude provided by Embodiment 3 of the present invention. Among them, such as image 3 As shown, the control device for the running posture of the power inspection robot includes:

[0165] The sliding mode surface equation calculation module 301 is used to establish a linearized model of the running posture of the electric inspection robot, and calculate the sliding mode surface equation based on the linearized model.

[0166] The basic sliding mode control law calculation module 302 is used to calculate the basic sliding mode control law based on the sliding surface equation, the preset Lyapunov function and the preset exponential reaching rate.

[0167] The generalized type-2 fuzzy sliding mode control module 303 is used to process the sliding surface equation through the pre-established generalized type-2 fuzzy sliding mode control model, and out...

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Abstract

The invention discloses an electric inspection robot operating posture control method and device. The control method comprises the steps that an electric inspection robot operating posture linearizedmodel is built, and a sliding mode surface equation is calculated based on the linearized model; a basic sliding mode control law is calculated on the basis of the sliding mode surface equation, a preset lyapunov function and a preset index reaching law, the sliding mode surface equation is processed through a generalized type two fuzzy sliding mode control model built in advance, and a preliminary processing result is output; and the preliminary processing result is substituted into an expression of the basic sliding mode control law, a final sliding mode control law is obtained, and accordingly, control over the electric inspection robot operating posture is completed based on the final sliding mode control law. In this way, through the electric inspection robot operating posture controlmethod and device, the anti-jamming capability of an electric inspection robot in the inspection moving process can be effectively improved, the slip resistance and the obstacle avoidance performanceare good, and accordingly, the safety performance of the electric inspection robot in the inspection moving process is effectively improved.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a method and device for controlling the running posture of an electric power inspection robot. Background technique [0002] With the continuous development of society, electricity is indispensable. In order to ensure the safe production and safe operation of the substation, it is necessary to carry out daily inspection and maintenance of the substation. Nowadays, power inspection robots are generally used to assist or replace the staff to inspect the equipment of the substation. By collecting the operating status information of the power equipment, thereby Detect whether there are abnormal phenomena such as thermal defects and foreign objects hanging in the power equipment, so as to ensure the safety of power production. Gain-scheduled dynamic surface control or inversion control is often used to control the motion attitude of electric power inspection robots. However,...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/163B25J9/1646B25J9/1684
Inventor 赵涛刘佳豪佃松宜
Owner SICHUAN UNIV
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