Flexible power line maintenance robot position and posture control method under action of wind load
A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as difficulty in adapting to the impact of high-voltage transmission lines operating environment, and achieve the effects of saving system hardware consumption, reducing costs, and strong versatility
Inactive Publication Date: 2019-06-07
WUHAN TEXTILE UNIV
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[0003] At present, most of the robot pose control methods work under the traditional PID control mode, and it is difficult to adapt to the specific working environment of high-voltage transmission lines, especially the influence of large flexibility, wind load, and strong electromagnetic field on pose control.
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[0018] The basic structure of the robot neural network closed-loop control system is as follows: Figure 5 As shown, in order to realize the precise pose control of the robot, it is necessary to compensate the influence of the uncertainty and disturbance in the specific environment on the motion control of the robot in real time. The neural network has strong nonlinear approximation characteristics, so this paper can realize the actual The mapping relationship between robot pose compensation joint control variables and robot environmental parameters in the working environment adopts a standard three-layer network structure. Since the main influencing factors in a specific environment are flexible wires, wind loads, and strong electromagnetic fields, the input of the BP network Three nodes are selected. Since the output is the joint variable value O of the robot, which is used for the motion positioning control of the double arm, and the dual-operation arm has a total of 7 joint...
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The invention relates to a flexible power line maintenance robot position and posture control method under action of a wind load. The position and posture control of a power line drainage plate maintenance operation robot under the action of a flexible circuit, the wind load and a strong electromagnetic field is realized, a mathematical relation expression of the sag of a flexible wire and the parameters of a circuit structure is deduced through establishment of an inclined parabola model of a high-voltage power transmission wire, a mathematical relation expression of the angle of wind deflection of the robot and the wind load is deduced through establishment of a roll model under the action of the wind load, and an equivalent circuit model of the robot in and out of the electromagnetic field is obtained through approximate processing of the robot in the strong electromagnetic field; and finally, a BP neural network closed-loop controller is designed, and through dynamic adjustment bya closed-loop control system, influence from the flexible environment, the wind load and the strong electromagnetic field on the position and posture of the robot is effectively reduced. Through implementation of the flexible power line maintenance robot position and posture control method, the self-adaptability of the robot to the operation environment and the intelligence of the robot operationprocess are effectively improved.
Description
technical field [0001] The invention relates to a pose control method for a flexible power line maintenance robot under the action of wind load, which belongs to the field of smart grid and power system industry. Background technique [0002] High-voltage power cables are an important channel for power transmission. Their overhead suspension, high voltage, and high current, as well as the special geographical environment and harsh natural environment that it has experienced across rivers, mountains and virgin forests, will cause vibration shock on the line. Displacement and corrosion, pollution flashover of insulators, loose strands and broken strands, strain clamp drainage plate / spacer bolt loosening and many other faults occur. In addition, due to various factors such as construction differences and maintenance in actual transmission lines, the structural size of the line fittings changes. At the same time, there are foreign body suspensions, fittings deformation and dislo...
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IPC IPC(8): B25J9/16H02G1/02
Inventor 江维张安彭孟怀李红军陈伟
Owner WUHAN TEXTILE UNIV