Robot traction control method and device

Abstract

A robot traction control method and device relate to the field of robot control. To address the technical problem in the prior art that the FAST feed support cable detection robot, operating in the air, can be affected by problems with its motion control, the present invention provides a technical solution: a robot traction control method comprising: establishing a mathematical model of the free droop curve of the feed support cable; collecting the actual operating speed and preset operating speed of the robot; obtaining the angle between the traction rope drive direction and the robot's motion direction; obtaining the predicted operating speed of the winch; obtaining a compensation signal based on the actual operating speed and preset operating speed of the robot; and obtaining a control signal for the winch by combining the compensation signal with the predicted operating speed of the winch. The method is suitable for use in the control of the coordinated traction of the front and rear ends of the FAST feed support cable detection robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a control method for coordinated traction of the front and rear ends of a FAST feed support cable detection robot. Background Art

[0002] The Five-hundred-meter Aperture Spherical Radio Telescope, abbreviated as FAST, has six feed support cables pulled by six feed support towers more than 100 meters high. The length of the six feed support cables is changed through a driving mechanism, thereby driving the 30-ton feed cabin flexibly supported by the six cables to move on the spherical crown surface with a height of 140 meters and a diameter of 206 meters, so that it can still receive cosmic signals collected by the reflecting surface when the reflecting surface changes.

[0003] Safety inspections of FAST are crucial to ensuring its ability to conduct observations normally. Safety inspections of the six feed support cables, in particular, can effectively prevent catastrophic accidents such as cable breakage. However, inspecting the FAST feed support cables is extremely difficult. A 280-meter section of the six feed support cables near the feed cabin remains exposed to the elements for extended periods and cannot be retrieved, creating a blind spot for inspection. The entire feed support cable system is suspended over a long distance, at a high altitude, with a steep slope and low surface friction. Furthermore, the cables are equipped with numerous pulleys and clamps of varying sizes. Manual inspections of the FAST feed support cables and pulleys would be associated with poor safety, efficiency, and accuracy. Therefore, a robotic system capable of autonomous inspection is required to perform defect detection on the FAST feed support cables. Due to the characteristics of the FAST feed support cables, it is difficult for a robot to self-propel on them. A robot designed for this inspection requires a coordinated front- and rear-end traction architecture and corresponding control methods to ensure proper operation.

[0004] Currently, common cable inspection robots primarily include cable-stayed bridge cable inspection robots and high-voltage power line inspection robots. Because cable-stayed bridge cables, while steep, have short distances, high surface friction coefficients, and no obvious obstacles, cable-stayed bridge cable inspection robots can be self-propelled on the cables using wheeled, tracked, or crawler-type mechanisms. High-voltage transmission lines, on the other hand, may have large obstacles on their surfaces, but their slopes are generally smaller and their surface friction coefficients are higher. Therefore, high-voltage power line inspection robots typically use wheeled drives to self-propelled themselves on the lines. These robots require lower motion control precision. In comparison, the characteristics of the FAST feed support cable necessitate the use of external traction drive for the inspection robots. Current traction drive control methods for robots are mostly used for underwater robots. In contrast, the FAST feed support cable inspection robot operates in mid-air, and any motion control issues could have an immeasurable impact on the FAST facility itself. Therefore, specifically designed motion control methods for the FAST feed support cable and pulley inspection robots are needed to ensure stable and efficient operation on the feed support cable. Summary of the Invention

[0005] To solve the technical problem in the prior art that the various characteristics of the existing FAST feed support cable require the robot to adopt an external traction drive solution, and the current traction drive control method of robots is mostly used for underwater robots. In contrast, the FAST feed support cable inspection robot works in the air, and if there is a problem with its motion control, it will have an immeasurable impact on the FAST facility itself. The technical solution provided by the present invention is as follows:

[0006] A robot traction control method is applied to a FAST feed support cable detection robot, the method comprising:

[0007] The steps of establishing a mathematical model of a free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end;

[0008] The step of collecting the actual running speed and the preset running speed of the robot;

[0009] The step of obtaining an angle between a driving direction of a traction rope and a moving direction of the robot according to a current position of the robot and the model;

[0010] The step of obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle;

[0011] The step of obtaining a compensation signal according to the actual running speed and the preset running speed of the robot;

[0012] The step of obtaining a control signal for the hoist by combining the compensation signal with the predicted operating speed of the hoist.

[0013] Furthermore, a preferred embodiment is provided, wherein the inclination angle is obtained by measuring the tension at the end of the feed support tower by the FAST feed support cable control room.

[0014] Furthermore, a preferred embodiment is provided, wherein the mathematical model is established based on the tension of the feed support cable at the feed cabin end and the linear density of the feed support cable.

[0015] Furthermore, a preferred embodiment is provided, in which the actual running speed of the robot is obtained according to the mileage that the robot runs along the FAST feed support cable.

[0016] Furthermore, a preferred embodiment is provided, wherein the angle is obtained by the slope of the feed support cable at the current position coordinates of the robot and the slope of a straight line between the current position coordinates of the robot and the feed support tower end of the feed support cable.

[0017] Furthermore, a preferred embodiment is provided, in which the predicted operating speed of the winch is obtained based on the angle between the traction direction of the traction rope at the front end of the robot, the movement direction of the robot along the cable, and the kinematic relationship between the two.

[0018] Furthermore, a preferred embodiment is provided, in which, in the kinematic relationship, the ratio of the winch linear velocity to the robot velocity is obtained according to the angle between the traction rope at the front end of the robot and the horizontal plane and the inclination angle of the feed source support cable.

[0019] Based on the same inventive concept, the present invention also provides a robot traction control device, which is applied to the FAST feed support cable detection robot, and the device includes:

[0020] A module for establishing a mathematical model of the free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end;

[0021] A module for collecting the actual running speed and the preset running speed of the robot;

[0022] A module for obtaining an angle between a traction rope driving direction and a movement direction of the robot according to a current position of the robot and the model;

[0023] A module for obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle;

[0024] A module for obtaining a compensation signal according to the actual running speed and the preset running speed of the robot;

[0025] A module for obtaining a control signal of the hoist by combining the compensation signal with the predicted operating speed of the hoist.

[0026] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the program is read by a computer, the computer executes the method described above.

[0027] Based on the same inventive concept, the present invention also provides a computer, comprising a processor and a storage medium. When the processor reads the computer program stored in the storage medium, the computer executes the method described above.

[0028] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0029] The robot traction control method provided by the present invention compensates for the control error caused by the feed support cable curve through feedforward control, and compensates for the deviation between the planned running speed of the robot and the actual running speed of the robot through feedback control by a PI controller, thereby achieving an ideal control effect of the feed support cable detection robot.

[0030] It is suitable for use in the control of coordinated traction at the front and rear ends of the FAST feed support cable detection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of the robot traction control method provided in embodiment 1.

[0032] Figure 2 This is a schematic diagram of the overall environment in which the robot traction control method mentioned in embodiment eleven is applied to the FAST feed support cable detection robot.

[0033] Figure 3 This is a schematic diagram of the coordinate system in the mathematical model required to establish the robot traction control method mentioned in the eleventh embodiment.

[0034] Figure 4 This is a schematic diagram of cable parameters when the robot traction control method mentioned in the eleventh embodiment is applied to a robot running on a cable.

[0035] Figure 5 This is a schematic diagram of the overall mechanical analysis model of the cable required to be established for the robot traction control method mentioned in the eleventh embodiment.

[0036] Figure 6 Schematic diagram of the cable microelement mechanics analysis model required for the robot traction control method mentioned in the eleventh embodiment.

[0037] Figure 7A schematic diagram of the force vector loop in the cable microelement mechanics analysis model required for the robot traction control method mentioned in the eleventh embodiment.

[0038] Figure 8 This is a schematic diagram of the relationship between the predicted robot running speed along the cable and the linear speed of the traction winch in the feedforward control part of the robot traction control method mentioned in the eleventh embodiment. DETAILED DESCRIPTION

[0039] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0040] Implementation Method 1: Combination Figure 1 This embodiment describes a robot traction control method, which is applied to a FAST feed support cable detection robot. The method includes:

[0041] The steps of establishing a mathematical model of a free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end;

[0042] The step of collecting the actual running speed and the preset running speed of the robot;

[0043] The step of obtaining an angle between a driving direction of a traction rope and a moving direction of the robot according to a current position of the robot and the model;

[0044] The step of obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle;

[0045] The step of obtaining a compensation signal according to the actual running speed and the preset running speed of the robot;

[0046] The step of obtaining a control signal for the hoist by combining the compensation signal with the predicted operating speed of the hoist.

[0047] Specifically:

[0048] The method provided in this embodiment comprises the following steps:

[0049] (1) Based on the Newton iteration method, the inclination angle of the feed support cable at the feed cabin end is solved by measuring the tension at the feed support tower end in the FAST feed support cable control room, thereby establishing a complete mathematical model of the free suspension curve of the feed support cable.

[0050] (2) Based on the odometer and other sensors carried by the cable detection robot, the mileage of the robot running along the FAST feed support cable is determined, and the running speed of the robot is obtained by differentiation.

[0051] (3) Based on the position of the robot on the feed support cable and the mathematical model of the feed support cable, the angle between the traction drive direction of the front traction rope and the movement direction of the robot along the cable is determined.

[0052] (4) Based on the planned operating speed of the robot, predict the operating speed of the driving winch.

[0053] (5) The deviation between the planned running speed of the robot and the actual running speed of the robot is compensated by the PI controller.

[0054] (6) The operation of the winch is controlled by combining feedforward control based on the predicted operating speed of the winch and feedback control based on the PI controller.

[0055] The feed support cable model equation established in step (1) can be expressed as:

[0056]

[0057] in F1 is the tension of the feed support cable at the feed cabin end, α1 is the inclination angle of the feed support cable at the feed cabin end, ρ is the linear density of the feed support cable, and g is the acceleration of gravity.

[0058] The slope of the freely suspended feed support cable can be given by:

[0059]

[0060] The iterative formula for solving the inclination angle α1 of the feed support cable feed cabin end by the Newton iteration method can be given by the following formula:

[0061]

[0062] in (B, H) are the coordinates of the feed support tower end of the feed support cable, from which all the unknown parameters of the free suspension curve equation of the feed support cable are determined.

[0063] In step (3), the position of the robot on the feed support cable is obtained by first integrating the curve equation of the freely suspended feed support cable. The relationship between the robot's running mileage and position coordinates can be given by the following formula:

[0064]

[0065] In the step (3), the angle between the traction drive direction of the traction rope at the front end of the robot and the movement direction of the robot along the cable is obtained by solving the slope of the feed support cable at the robot position coordinates and the slope of the straight line between the robot position coordinates and the feed support cable feed support tower end.

[0066] The angle between the robot's velocity direction and the horizontal plane, that is, the inclination angle of the feed support cable, can be given by the following formula:

[0067]

[0068] Since the weight of the front traction rope is much smaller than the weight of the cable detection robot itself, the overhang caused by the weight of the front traction rope is ignored. The angle between the front traction rope of the robot and the horizontal plane can be given by the following formula:

[0069]

[0070] Therefore, the angle between the traction driving direction of the traction rope at the front end of the robot and the movement direction of the robot along the cable can be given by the following formula:

[0071] α β =αx r -α Rv ;

[0072] The predicted running speed of the driving winch in step (4) is obtained by the angle between the traction driving direction of the traction rope at the front end of the robot and the movement direction of the robot along the cable, and the kinematic relationship between the two. The ratio β of the winch linear speed to the robot speed can be given by the following formula:

[0073] β=cos(α tr -αx v );

[0074] The rotational speed of the traction drive winch is thus predicted based on the robot's motion planning speed along the feed support cable.

[0075] Implementation method 2: This implementation method further limits the robot traction control method provided in implementation method 1. The inclination angle is obtained by measuring the tension at the feed support tower end of the FAST feed support cable control room.

[0076] Implementation method three: This implementation method further limits the robot traction control method provided in implementation method one. The mathematical model is established based on the tension of the feed support cable at the feed cabin end and the feed support cable linear density.

[0077] Implementation method 4: This implementation method further limits the robot traction control method provided in implementation method 1. The actual running speed of the robot is obtained according to the mileage of the robot running along the FAST feed support cable.

[0078] Implementation method five: This implementation method further limits the robot traction control method provided in implementation method one. The angle is obtained by the slope of the feed support cable at the current position coordinates of the robot, the slope of the straight line between the current position coordinates of the robot and the feed support tower end of the feed support cable.

[0079] Implementation method six: This implementation method further limits the robot traction control method provided in implementation method one. The predicted operating speed of the winch is obtained based on the traction direction of the traction rope at the front end of the robot, the angle between the movement direction of the robot along the cable, and the kinematic relationship between the two.

[0080] Implementation method seven: This implementation method further limits the robot traction control method provided in implementation method six. In the kinematic relationship, the ratio of the winch linear velocity to the robot velocity is obtained based on the angle between the traction rope at the front end of the robot and the horizontal plane and the inclination angle of the feed source support cable.

[0081] Embodiment 8: This embodiment provides a robot traction control device, which is applied to a FAST feed support cable detection robot. The device includes:

[0082] A module for establishing a mathematical model of the free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end;

[0083] A module for collecting the actual running speed and the preset running speed of the robot;

[0084] A module for obtaining an angle between a traction rope driving direction and a movement direction of the robot according to a current position of the robot and the model;

[0085] A module for obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle;

[0086] A module for obtaining a compensation signal according to the actual running speed and the preset running speed of the robot;

[0087] A module for obtaining a control signal of the hoist by combining the compensation signal with the predicted operating speed of the hoist.

[0088] Implementation method 9: This implementation method provides a computer storage medium for storing a computer program. When the program is read by a computer, the computer executes the method provided in any one of implementation methods 1 to 7.

[0089] Implementation 10. This implementation provides a computer, including a processor and a storage medium, characterized in that when the processor reads the computer program stored in the storage medium, the computer executes the method provided in any one of Implementations 1 to 7.

[0090] Implementation Method 11: Combination Figure 2-8 This embodiment is described. This embodiment uses a specific example to explain the robot traction control method provided in the first embodiment. Specifically:

[0091] like Figure 1 The traction control method of the FAST feed support cable detection robot based on the cable free suspension model shown includes the following steps:

[0092] (1) Analysis Figure 2 The operating environment of the feed support cable detection robot on the FAST feed support cable is shown, and a coordinate system is established for analyzing the motion state of the cable detection robot.

[0093] In order to accurately and quickly control the traction of the robot running on the cable, first take the starting point of the FAST feed support cable at the feed cabin end as the coordinate origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis, as shown in the following example: Figure 3 To establish the feed support cable curve model, the feed support cable is abstracted as follows Figure 4 The mathematical model shown in the figure has the main size parameters of the feed support cable marked on Figure 4 middle.

[0094] (2) A mechanical analysis of the FAST feed support cable was conducted, and based on this, a mathematical model of the cable's free suspension was established for the motion control of the cable detection robot.

[0095] Perform overall mechanical analysis on the feed support cable, such as Figure 5 As shown. Where F1 and F2 are the tensions at both ends of the feed support cable, L is the length of the feed support cable, ρ is the cable linear density, and g is the acceleration of gravity. The overall mechanical analysis of the feed support cable is given by the following formula:

[0096] -F1cosα1+F2cosα2=0

[0097] -F1sinα1-ρgL+F2cosα2=0;

[0098] The mechanical analysis of the feed support cable microelement is carried out, and the analysis results are as follows: Figure 7 and Figure 8 As shown in Figure 2, the mechanical analysis of the feed support cable element is given by the following formula:

[0099] ρgdl·sina=dF

[0100] ρgdl·cosα=Fdα;

[0101] Solving the differential equation, the curve equation of the freely suspended feed support cable can be expressed as:

[0102]

[0103] in Then the slope of the freely suspended feed support cable can be given by:

[0104]

[0105] (3) Based on the Newton iteration method, the inclination angle of the feed support cable at the feed cabin end is solved, thereby determining the unknown parameters in the free suspension cable curve equation and establishing a complete mathematical model of the free suspension curve of the feed support cable.

[0106] The contraction of the FAST feed support cable is controlled by the tension at the feed support tower end. The feed support cable curve can be adjusted by adjusting the tension at the feed support tower end, i.e., F2, in the FAST base control room. Given the tension F2 at the feed support tower end, the tension F1 at the feed cabin end can be given by the following formula:

[0107] F2=F1+ρgH;

[0108] Since the feed support cable curve passes through point (B, H) and the cable linear density is 12 kg / m, the feed support cable curve equation must satisfy the following formula:

[0109]

[0110] Based on the Newton iteration method, the feed cabin end inclination angle α1 that satisfies the feed support cable curve equation is solved. Assuming the initial value α1 = 0, we can get make Then, the inclination angle α1 of the feed cabin end of the feed support cable is solved as follows:

[0111] Derivative f(α1) yields:

[0112] f′(α1)=e+tanα1(Be-ad);

[0113] Then the new α1 obtained by Newton iteration method * It can be given by the following formula:

[0114]

[0115] Iterate until |f(α1)|<0.01, and then calculate the parameters a, b, and c from α1 to obtain the equation of the feed support cable sag curve.

[0116] (3) Based on the odometer and other sensors carried by the cable detection robot, the mileage of the robot along the FAST feed support cable is determined, the running speed of the robot along the cable is obtained by differentiation, and the spatial position coordinates of the robot are solved by the mathematical model of the feed support cable.

[0117] The robot mileage s obtained by the line integral of the feed support cable curve equation can be given by the following formula:

[0118]

[0119] Therefore, based on the mileage s measured by the odometer and other sensors on the robot, the robot coordinates (x R ,y R ).

[0120] (4) Based on the position of the robot on the feed support cable and the mathematical model of the feed support cable, the direction of movement of the robot along the cable and the traction drive direction of the front traction rope are determined.

[0121] The feed support cable slope is obtained by differentiating the feed support cable curve equation. The angle between the robot velocity direction and the horizontal plane, that is, the feed support cable inclination angle, can be given by the following formula:

[0122]

[0123] Since the weight of the front traction rope is much smaller than the weight of the cable detection robot itself, the overhang caused by the weight of the front traction rope is ignored. The slope of the robot's front traction rope can be given by the following formula:

[0124]

[0125] (5) Calculate the ratio between the robot's movement speed along the cable and the traction drive speed of the front traction rope, and thus predict the operating speed of the driving winch based on the robot's planned operating speed.

[0126] like Figure 8 As shown in Figure 2, the ratio of the winch linear speed to the robot speed β can be given by the following formula:

[0127] β=cos(α tr -α Rv );

[0128] (6) The deviation between the planned running speed of the robot and the actual running speed of the robot is compensated by the PI controller.

[0129] (7) The operation of the winch is controlled by combining feedforward control based on the predicted operating speed of the winch and feedback control based on the PI controller.

[0130] Based on the planned running speed of the robot, the running speed of the driving winch is predicted, and the control error caused by the feed support cable curve is compensated through feedforward control. The deviation between the planned running speed of the robot and the actual running speed of the robot is compensated by the PI controller through feedback control, thereby achieving the ideal control effect of the feed support cable detection robot.

[0131] The above further describes the technical solution provided by the present invention in detail through several specific embodiments in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific embodiments described above are not intended to limit the present invention. Any reasonable modification and improvement of the present invention, combination of embodiments and equivalent replacement based on the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0132] The descriptions in this specification refer only to preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Furthermore, reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" implies that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, those skilled in the art may combine and integrate the different embodiments or examples described in this specification, as well as features from different embodiments or examples, unless otherwise specified. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance or to implicitly specify the number of the technical features indicated. Therefore, features designated "first" or "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined. Any process or method description in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code comprising one or more executable instructions for implementing a custom logic function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed in a different order than shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which the embodiments of the present invention pertain. The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logic function, can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution systems, apparatuses, or devices. For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution systems, apparatuses, or devices. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or N wirings (electronic devices), a portable computer disk cartridge (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM).In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, then editing, interpreting, or processing in other suitable ways as necessary, and then storing it in a computer memory. It should be understood that the various parts of the present invention can be implemented with hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented with hardware, as in another embodiment, any one of the following technologies known in the art or their combination can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0133] Those skilled in the art will appreciate that all or part of the steps carried out in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

Claims

1. A robot traction control method, applied to a FAST feed support cable detection robot, characterized in that: The method comprises: The steps of establishing a mathematical model of a free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end; Specifically: The tension at the feed support tower end measured in the FAST feed support cable control room is used to calculate the inclination angle of the feed support cable at the feed cabin end based on the Newton iteration method, thereby establishing a complete mathematical model of the free sag curve of the feed support cable. The feed support cable model equation can be expressed as: in F1 is the tension of the feed support cable at the feed cabin end, α1 is the inclination angle of the feed support cable at the feed cabin end, ρ is the linear density of the feed support cable, and g is the acceleration of gravity; The slope of the freely suspended feed support cable can be given by: The iterative formula for solving the inclination angle α1 of the feed support cable feed cabin end by the Newton iteration method can be given by the following formula: in (B, H) are the coordinates of the feed support tower end of the feed support cable, from which all the unknown parameters of the free sag curve equation of the feed support cable are determined; The step of collecting the actual running speed and the preset running speed of the robot; The step of obtaining an angle between a driving direction of a traction rope and a moving direction of the robot according to a current position of the robot and the model; The step of obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle; The step of obtaining a compensation signal according to the actual running speed and the preset running speed of the robot; The step of obtaining a control signal for the hoist by combining the compensation signal with the predicted operating speed of the hoist.

2. The robot traction control method according to claim 1, characterized in that: The inclination angle is obtained by measuring the tension at the feed support tower end in the FAST feed support cable control room.

3. The robot traction control method according to claim 1, characterized in that: The mathematical model is established based on the tension of the feed support cable at the feed cabin end and the linear density of the feed support cable.

4. The robot traction control method according to claim 1, characterized in that: The actual running speed of the robot is obtained according to the mileage the robot runs along the FAST feed support cable.

5. The robot traction control method according to claim 1, characterized in that: The angle is obtained by the slope of the feed support cable at the current position coordinates of the robot and the slope of the straight line between the current position coordinates of the robot and the feed support tower end of the feed support cable.

6. The robot traction control method according to claim 1, characterized in that: The predicted running speed of the hoist is obtained according to the traction direction of the traction rope at the front end of the robot, the angle between the movement direction of the robot along the cable, and the kinematic relationship between the two.

7. The robot traction control method according to claim 6, characterized in that: In the kinematic relationship, the ratio of the winch linear velocity to the robot velocity is obtained according to the angle between the traction rope at the front end of the robot and the horizontal plane and the inclination angle of the feed source support cable.

8. Robot traction control device, applied to FAST feed support cable detection robot, characterized by: The device comprises: A module for establishing a mathematical model of the free sag curve of the feed support cable according to the inclination angle of the feed support cable at the feed cabin end; A module for collecting the actual running speed and the preset running speed of the robot; A module for obtaining an angle between a traction rope driving direction and a movement direction of the robot according to a current position of the robot and the model; A module for obtaining a predicted operating speed of the hoist according to the preset operating speed of the robot and the angle; A module for obtaining a compensation signal according to the actual running speed and the preset running speed of the robot; A module for obtaining a control signal of the hoist by combining the compensation signal with the predicted operating speed of the hoist.

9. A computer storage medium for storing a computer program, characterized in that When the program is read by a computer, the computer executes the method according to any one of claims 1 to 7.

10. A computer comprising a processor and a storage medium, characterized in that When the processor reads the computer program stored in the storage medium, the computer executes the method according to any one of claims 1 to 7.

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