A method and device for controlling the running attitude of an electric power inspection robot

Abstract

A method and device for controlling the operating attitude of a power inspection robot, comprising: establishing a linearized model of the operating attitude of an electric inspection robot, and calculating a sliding surface equation based on the linearized model; using the sliding surface equation, preset Li Yapu Based on the Nove function and the preset exponential approach rate, the basic sliding mode control law is calculated, and the sliding mode surface equation is processed through the pre-established generalized type II fuzzy sliding mode control model, and the preliminary processing results are output; the preliminary processing results are Substituting into the expression of the basic sliding mode control law, the final sliding mode control law is obtained, and then the control of the running attitude of the power inspection robot is completed according to the final sliding mode control law. It can be seen that the implementation of the control method and device for the operating attitude of the electric power inspection robot can effectively enhance the anti-interference ability of the electric power inspection robot during the inspection movement process, with good anti-slip performance and good obstacle avoidance performance, thereby effectively improving the power inspection robot. Safety performance during inspection movement.

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,...

AI Technical Summary

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 and other uncertain external factors during the inspection process. Poor performance, which can easily lead to safety accidents on the inspection line of the power inspection robot

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