Detection method and system of external interference resistance system of high-voltage power line maintenance robot

Abstract

The application discloses a detection method and system of an external interference resistance system of a high-voltage wire maintenance robot, and the maintenance robot is interfered by unknown wind when performing maintenance on a high-voltage wire in the air, so that the actual rotating speed of the robot is inconsistent with the wind speed, and the energy consumption of the maintenance robot is increased.Therefore, the constraint on errors should be fully considered in the research and design of the control method of the maintenance robot system.The unknown wind speed is constrained by using a neural network.A suitable Lyapunov function and a virtual control law and an updating law are designed, the virtual control law is repeatedly derived, the derived Lyapunov function is brought in, redundant terms are eliminated, the derived Lyapunov function is always less than or equal to zero, and the system is finally bounded.The maintenance of the high-voltage wire is completed by controlling the robot, time is saved, artificial cost is saved, and dangers are avoided.

Description

Technical Field

[0001] This invention belongs to the field of robot anti-interference, specifically relating to a detection and control device for an anti-interference system with a high-voltage power line maintenance robot as its core. Background Technology

[0002] Ultra-high voltage (UHV) power lines are long and erected at great heights, making traditional manual maintenance time-consuming, labor-intensive, and dangerous. To address the shortcomings of manual maintenance, a high-voltage power line maintenance robot was designed. This robot is controlled to perform maintenance on high-voltage power lines, saving time, reducing labor costs, and avoiding potential hazards. Furthermore, this robot is resistant to external interference; by collecting and controlling unknown wind speeds, its impact on the robot can be reduced.

[0003] In the detection and control system of an anti-external interference system centered on a high-voltage power line maintenance robot, the robot is subject to interference from unknown wind while performing maintenance on high-voltage power lines at high altitudes. This causes the robot's actual rotational speed to be inconsistent with the wind speed, leading to increased energy consumption. Therefore, reducing or even eliminating the rotational speed error between the robot's rotational speed and the unknown wind speed is crucial. Thus, the control method research and design of the maintenance robot system should fully consider the constraint of the error. As an uncontrolled system, the constraint problem for unknown wind speed is more complex and difficult to solve. Neural networks can be considered for constraining the unknown wind speed. The control methods widely used in this field often use the backstepping method as a design framework. By designing appropriate Lyapunov functions, virtual control laws, and update laws, and repeatedly differentiating the virtual control law and substituting it into the differentiated Lyapunov function to eliminate redundant terms, the differentiated Lyapunov function is always less than or equal to zero, ensuring that the system is ultimately bounded. Summary of the Invention

[0004] Purpose of the invention: To address the problems existing in the prior art, this invention provides a detection and control device for an anti-external interference system with a high-voltage power line maintenance robot as its core. This detection and control device enables the maintenance robot to work normally under external interference. By collecting data on unknown wind speeds and using a neural network to constrain the unknown wind speeds, the error constraint between the robot's rotation speed and the unknown wind speed is completed. By using a back-calculation method to design a suitable Lyapunov function, the stability analysis of the system is completed, reducing errors.

[0005] Technical solution: A testing method for the anti-interference system of a high-voltage power line maintenance robot, including the following steps:

[0006] (1) The state equation of the high-voltage power line maintenance robot affected by the unknown wind speed during its movement is transformed. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot.

[0007] (2) Use neural network approximation technology to constrain the unknown wind speed, and obtain the error variable function based on the constraint conditions;

[0008] (3) Based on the reverse design method, a virtual control law is designed as the actual input of the anti-external disturbance closed-loop system, and the rotation speed of the high-voltage power line maintenance robot is designed as the adaptive update law.

[0009] (4) Construct the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and find its derivative. Substitute the virtual control law and the adaptive update law into the derivative of the Lyapunov function and calculate whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can be made bounded in the end, and continue to step (5); if not, the variables of the closed-loop system cannot be made bounded in the end, and return to step (3) to redesign the virtual control law and the adaptive update law.

[0010] (5) Stability analysis was performed on the anti-external interference closed-loop system to prove that the constraint condition of unknown wind speed was not violated, and deterministic expressions for tracking error and convergence time were obtained. It was determined that the error control performance of the anti-external interference closed-loop system met the requirements, and the high-voltage power line maintenance robot could carry out stable maintenance under wind speed interference.

[0011] Furthermore, the anti-external interference closed-loop system model of the high-voltage power line maintenance robot in step (1) is as follows:

[0012] x1 = x2 + f1(x1)

[0013] x2 = x3 + f2(x1, x2) ......

[0015] x n =u+f n (x n )

[0016] y = x1

[0017] Where, x i ∈R n Let f be the motor blade speed of the high-voltage power line maintenance robot, u∈R be the control input, y∈R be the control output, and f be the speed of the motor blades. i Let i = 1, ..., n be unknown smooth continuous functions, representing unknown external wind speed disturbances, where f i (0,...,0)=0.

[0018] Furthermore, the error variable function in step (2) is as follows:

[0019]

[0020] Where τ * Represents the network reconstruction error, |τ * |≤τ MAX τ MAX It is τ * The maximum value of θ; * Therefore, |θ*|≤θ MAX The optimal weight vector bounded by θ MAX It is θ * The maximum value; For a smooth finite function, θ *T For θ * The transpose of , the above formula represents the approximation of unknown wind speed using a neural network.

[0021] Furthermore, in step (3)

[0022] The virtual control law is as follows:

[0023]

[0024]

[0025]

[0026] The adaptive update law is as follows:

[0027]

[0028] α1, α i ,u is a virtual control law, c1,c i ,c n k is a constant, z1,......z i-1 ,z k ,z n , where θ is the error variable. * It is |θ * |≤θ MAX The optimal weight vector is bounded. This is an estimate of θ. For a smooth finite function, τ * Indicates network reconstruction error. for The derivative of .

[0029] Furthermore, the objectives that the virtual control law and the adaptive update law need to satisfy include:

[0030] Objective 1: Ensure that all variables of the high-voltage power line maintenance robot and its anti-interference system are semi-globally stable, and that the errors of the actual rotation speed and the unknown wind speed converge to infinitesimal.

[0031] Objective 2: Ensure that all variables of the high-voltage power line maintenance robot and its anti-external interference system are within the constraints and do not violate the full-state constraints.

[0032] Furthermore, the construction process of the Lyapunov function is as follows, and the derivation is as follows:

[0033] Combining the state equation of a strictly feedback nonlinear system and the error variable z1=x1-y r

[0034] Taking the time derivative of z1, we get:

[0035]

[0036]

[0037] because This is an estimate of θ. To estimate the error, For a smooth finite function, θ *T For θ * The transpose of θ * It is |θ * |≤θ MAX The optimal weight vector with bounded values, τ * Indicates network reconstruction error;

[0038] The closed-loop system model for resisting external interference makes the following assumptions:

[0039] Reference signal y r , Both are sufficiently smooth bounded functions; y r The error is z1-x1. Appears in subsequent V1, V2...V n When performing differentiation, y r Multiple differentiations are required to ensure that the closed-loop system variables are bounded, i.e., to ensure that the state equations and error variables z1 and... Since it is bounded, making the reference signal a smooth and bounded function will not affect the result.

[0040] Through z1......z i To constrain the motor blade speed error of a practical high-voltage power line maintenance robot against unknown wind speed, the designed Lyapunov function is V1,......V n as follows:

[0041]

[0042]

[0043] z1,......z i-1 ,z k ,z n , where θ is the error variable. * It is |θ * |≤θ MAX The optimal weight vector bounded by θ *T For θ * transpose, This is an estimate of θ1. For θ1 * The estimated value.

[0044] Furthermore, regarding the Lyapunov functions V1, ... V n Find the time derivative, z1......z i The time derivative and the designed virtual control law α1,......α i ..., u and the update law Substituting into the differentiated Lyapunov function, we obtain:

[0045] ......

[0047]

[0048] c1,c i ,c n k is a constant, z1,......z i-1 ,z k ,z n , is the error variable

[0049] As can be seen from all the above derivation steps, the error constraint between the actual rotation speed and the unknown wind speed of the detection and control method of the anti-external interference system of the high-voltage power line maintenance robot is semi-globally stable.

[0050] The detection system of the anti-external interference system of the high-voltage power line maintenance robot includes a conversion module, a constraint module, a reverse design module, a judgment module, and an analysis module;

[0051] The conversion module transforms the state equation of the high-voltage power line maintenance robot under the influence of unknown wind speed during its movement. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot.

[0052] The constraint module uses neural network approximation technology to constrain the unknown wind speed and obtains the error variable function based on the constraint conditions.

[0053] The reverse design module designs a virtual control law as the actual input of the anti-external interference closed-loop system based on the reverse design method, and designs the rotation speed of the high-voltage power line maintenance robot as the adaptive update law.

[0054] The judgment module constructs the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and calculates its derivative. It then substitutes the virtual control law and the adaptive update law into the derivative of the Lyapunov function to determine whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can eventually be bounded, and the analysis module continues to work. If not, the variables of the closed-loop system cannot eventually be bounded, and the module returns to the reverse design module to redesign the virtual control law and the adaptive update law.

[0055] The analysis module performs stability analysis on the anti-external interference closed-loop system, proving that the constraint condition of unknown wind speed is not violated, and obtains deterministic expressions for tracking error and convergence time, confirming that the error control performance of the anti-external interference closed-loop system meets the requirements, and that the high-voltage power line maintenance robot can perform stable maintenance under wind speed interference.

[0056] The detection device for the anti-interference system of the high-voltage power line maintenance robot includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, it implements the detection method for the anti-interference system of the high-voltage power line maintenance robot.

[0057] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the detection method of the anti-external interference system of the high-voltage power line maintenance robot.

[0058] Beneficial effects:

[0059] 1. This invention proposes an adaptive neural network control strategy based on nonlinear disturbance wind speed and a nonlinear system. It uses a neural network to approximate the unknown function, i.e., the unknown wind speed. By constructing a suitable Lyapunov function, it satisfies the system's error constraints regarding the unknown wind speed and the blade rotation speed of the maintenance robot. This requires the tracking error in the system to converge within a specified time and within a predefined range, ultimately enabling the nonlinear system with external disturbance (unknown wind speed) to achieve semi-global finite-time stability. In the field of nonlinear control for high-voltage power line maintenance robots against external disturbances (unknown wind speed), this method solves this problem, representing a technological innovation with excellent results.

[0060] 2. This invention aims to make the high-voltage line maintenance robot resistant to external interference. It adjusts and constrains the operation of the robot's blades to avoid interference from unknown wind speeds, saving time, reducing labor costs, and avoiding potential dangers.

[0061] 3. This invention adjusts the relevant parameters of the Lyapunov function in a timely manner, which can constrain all state variables in the actual application model in a timely manner, resulting in better accuracy and performance of the application.

[0062] 4. The strategy of this invention is aimed at unknown wind speeds. By setting the system as a general system of order n, it can take into account all variables that appear on site in real time to obtain better control performance. Attached Figure Description

[0063] Figure 1 This is a theoretical flowchart of the present invention;

[0064] Figure 2 A schematic diagram of the operation of the maintenance robot;

[0065] Figure 3 To track the trajectory curve of error z1;

[0066] Figure 4 To control the trajectory curve of the input u;

[0067] Figure 5 The reference trajectory and the actual trajectory curve. Detailed Implementation

[0068] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0069] like Figure 1 As shown, the present invention provides a technical solution: a detection method for the anti-external interference system of a high-voltage power line maintenance robot, comprising the following steps:

[0070] (1) The state equation of the high-voltage power line maintenance robot affected by the unknown wind speed during its movement is transformed. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot.

[0071] (2) Use neural network approximation technology to constrain the unknown wind speed, and obtain the error variable function based on the constraint conditions;

[0072] (3) Based on the reverse design method, a virtual control law is designed as the actual input of the anti-external disturbance closed-loop system, and the rotation speed of the high-voltage power line maintenance robot is designed as the adaptive update law.

[0073] (4) Construct the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and find its derivative. Substitute the virtual control law and the adaptive update law into the derivative of the Lyapunov function and calculate whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can be made bounded in the end, and continue to step (5); if not, the variables of the closed-loop system cannot be made bounded in the end, and return to step (3) to redesign the virtual control law and the adaptive update law.

[0074] (5) Stability analysis was performed on the anti-external interference closed-loop system to prove that the constraint condition of unknown wind speed was not violated, and deterministic expressions for tracking error and convergence time were obtained. It was determined that the error control performance of the anti-external interference closed-loop system met the requirements, and the high-voltage power line maintenance robot could carry out stable maintenance under wind speed interference.

[0075] The closed-loop system model for resisting external interference makes the following assumptions:

[0076] Reference signal y r , Both are sufficiently smooth bounded functions; y r The error is z1-x1. Appears in subsequent V1, V2...V n When performing differentiation, y r To ensure that the closed-loop system variables are bounded, multiple differentiations are required, so the reference signal is made a smooth and bounded function, which will not affect the result.

[0077] Furthermore, the anti-external interference closed-loop system model of the high-voltage power line maintenance robot in step (1) is as follows:

[0078] x1 = x2 + f1(x1)

[0079] x2 = x3 + f2(x1, x2) ......

[0081] x n =u+f n (x n )

[0082] y = x1

[0083] Where, x i ∈R n Let f be the motor blade speed of the high-voltage power line maintenance robot, u∈R be the control input, y∈R be the control output, and f be the speed of the motor blades. i Let i = 1, ..., n be unknown smooth continuous functions, representing unknown external wind speed disturbances, where f i (0,...,0)=0.

[0084] Furthermore, the error variable function in step (2) is as follows:

[0085]

[0086] Where τ * Represents the network reconstruction error, |τ * |≤τ MAX τ MAX It is τ * The maximum value of θ; * It is |θ * |≤θ MAX The optimal weight vector bounded by θ MAX It is θ * The maximum value; For a smooth finite function, θ *T For θ * The transpose of , the above formula represents the approximation of unknown wind speed using a neural network.

[0087] Furthermore, in step (3)

[0088] The virtual control law is as follows:

[0089]

[0090]

[0091]

[0092] The adaptive update law is as follows:

[0093]

[0094] α1, α i ,u is a virtual control law, c1,c i ,c n k is a constant, z1,......z i-1 ,z k ,z n , where θ is the error variable. * It is |θ * |≤θ MAX The optimal weight vector is bounded. This is an estimate of θ. For a smooth finite function, τ * Indicates network reconstruction error. for The derivative of .

[0095] Furthermore, the objectives that the virtual control law and the adaptive update law need to satisfy include:

[0096] Objective 1: Ensure that all variables of the high-voltage power line maintenance robot and its anti-interference system are semi-globally stable, and that the errors of the actual rotation speed and the unknown wind speed converge to infinitesimal.

[0097] Objective 2: Ensure that all variables of the high-voltage power line maintenance robot and its anti-external interference system are within the constraints and do not violate the full-state constraints.

[0098] Furthermore, the construction process of the Lyapunov function is as follows, and the derivation is as follows:

[0099] Combining the state equation of a strictly feedback nonlinear system and the error variable z1=x1-y r

[0100] Taking the time derivative of z1, we get:

[0101]

[0102]

[0103] because This is an estimate of θ. To estimate the error, For a smooth finite function, θ *T For θ * The transpose of θ * It is |θ * |≤θ MAX The optimal weight vector with bounded values, τ * Indicates network reconstruction error;

[0104] Reference signal y r , Both are sufficiently smooth bounded functions; y r The error is z1-x1. Appears in subsequent V1, V2...V n When performing differentiation, y r Multiple differentiations are required to ensure that the closed-loop system variables are bounded, i.e., to ensure that the state equations and error variables z1 and... Since it is bounded, making the reference signal a smooth and bounded function will not affect the result.

[0105] Through z1......z i To constrain the motor blade speed error of a practical high-voltage power line maintenance robot against unknown wind speed, the designed Lyapunov function is V1,......V n as follows:

[0106]

[0107]

[0108] z1,......z i-1 ,z k ,z n , where θ is the error variable. * It is |θ * |≤θ MAX The optimal weight vector bounded by θ *T For θ * transpose, This is an estimate of θ1. For θ1 * The estimated value.

[0109] Furthermore, regarding the Lyapunov functions V1, ... V n Find the time derivative, z1......z i The time derivative and the designed virtual control law α1,......α i ..., u and the update law Substituting into the differentiated Lyapunov function, we obtain:

[0110] ......

[0112]

[0113] c1,c i ,c n k is a constant, z1,......z i-1 ,z k ,z n , is the error variable

[0114] As can be seen from all the above derivation steps, the error constraint between the actual rotation speed and the unknown wind speed of the detection and control method of the anti-external interference system of the high-voltage power line maintenance robot is semi-globally stable.

[0115] The detection system of the anti-external interference system of the high-voltage power line maintenance robot includes a conversion module, a constraint module, a reverse design module, a judgment module, and an analysis module;

[0116] The conversion module transforms the state equation of the high-voltage power line maintenance robot under the influence of unknown wind speed during its movement. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot.

[0117] The constraint module uses neural network approximation technology to constrain the unknown wind speed and obtains the error variable function based on the constraint conditions.

[0118] The reverse design module designs a virtual control law as the actual input of the anti-external interference closed-loop system based on the reverse design method, and designs the rotation speed of the high-voltage power line maintenance robot as the adaptive update law.

[0119] The judgment module constructs the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and calculates its derivative. It then substitutes the virtual control law and the adaptive update law into the derivative of the Lyapunov function to determine whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can eventually be bounded, and the analysis module continues to work. If not, the variables of the closed-loop system cannot eventually be bounded, and the module returns to the reverse design module to redesign the virtual control law and the adaptive update law.

[0120] The analysis module performs stability analysis on the anti-external interference closed-loop system, proving that the constraint condition of unknown wind speed is not violated, and obtains deterministic expressions for tracking error and convergence time, confirming that the error control performance of the anti-external interference closed-loop system meets the requirements, and that the high-voltage power line maintenance robot can perform stable maintenance under wind speed interference.

[0121] The detection device for the anti-interference system of the high-voltage power line maintenance robot includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, it implements the detection method for the anti-interference system of the high-voltage power line maintenance robot.

[0122] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the detection method of the anti-external interference system of the high-voltage power line maintenance robot.

[0123] Figure 2 A schematic diagram of the operation of the maintenance robot; Figure 3 To track the trajectory curve of error z1; Figure 4 To control the trajectory curve of the input u; Figure 5 The reference trajectory and the actual trajectory curve.

[0124] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A detection method for the anti-external interference system of a high-voltage power line maintenance robot, characterized in that, Includes the following steps: (1) The state equation of the high-voltage power line maintenance robot affected by the unknown wind speed during its movement is transformed. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot. (2) Use neural network approximation technology to constrain the unknown wind speed, and obtain the error variable function based on the constraint conditions; (3) Based on the reverse design method, a virtual control law is designed as the actual input of the anti-external interference closed-loop system, and the rotation speed of the high-voltage power line maintenance robot is designed as the adaptive update law. (4) Construct the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and differentiate it. Substitute the virtual control law and the adaptive update law into the derivative of the Lyapunov function and calculate whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can be made bounded in the end, and continue to step (5); if not, the variables of the closed-loop system cannot be made bounded in the end, and return to step (3) to redesign the virtual control law and the adaptive update law. (5) Stability analysis was performed on the anti-external interference closed-loop system to prove that the constraint condition of unknown wind speed was not violated, and deterministic expressions for tracking error and convergence time were obtained. It was determined that the error control performance of the anti-external interference closed-loop system met the requirements, and the high-voltage power line maintenance robot could carry out stable maintenance under wind speed interference. The anti-external interference closed-loop system model of the high-voltage power line maintenance robot in step (1) is as follows: in, The motor blade speed of the high-voltage power line maintenance robot. To control the input, To control the output, It is an unknown smooth continuous function, which is affected by unknown external wind speed disturbance, where ; The virtual control law in step (3) is as follows: The adaptive update law is as follows: For virtual control laws, , It is a constant. For error variables, Therefore The optimal weight vector is bounded. for The estimated value, For a smooth finite function, Indicates network reconstruction error. for The derivative of .

2. The detection method for the anti-external interference system of the high-voltage power line maintenance robot according to claim 1, characterized in that, The error variable function in step (2) is shown below: in Indicates network reconstruction error. , yes The maximum value; Therefore The optimal weight vector is bounded. yes The maximum value; For a smooth finite function, for The transpose of , the above formula represents the approximation of unknown wind speed using a neural network.

3. The detection method for the anti-external interference system of the high-voltage power line maintenance robot according to claim 1, characterized in that, The objectives that virtual control laws and adaptive update laws need to satisfy include: Objective 1: Ensure that all variables of the high-voltage power line maintenance robot and its anti-external interference system are semi-globally stable, and that the errors of the actual rotation speed and the unknown wind speed converge to infinitesimal. Objective 2: Ensure that all variables of the high-voltage power line maintenance robot and its anti-external interference system are within the constraints and do not violate the full-state constraints.

4. The detection method for the anti-external interference system of the high-voltage power line maintenance robot according to claim 1, characterized in that, The construction process of the Lyapunov function is as follows, and the derivation is as follows: Combining the state equations and error variables of a strictly feedback nonlinear system right Taking its time derivative, we get: because , for The estimated value, To estimate the error, For a smooth finite function, for transpose, Therefore The optimal weight vector is bounded. Indicates network reconstruction error; It is a reference signal; pass To constrain the error between the motor blade speed and the unknown wind speed in a practical high-voltage power line maintenance robot, the designed Lyapunov function is: as follows: For error variables, Therefore The optimal weight vector is bounded. for transpose, for The estimated value, for The estimated value.

5. The detection method for the anti-external interference system of the high-voltage power line maintenance robot according to claim 4, characterized in that, Lyapunov functions Find the time derivative, and Time derivative and designed virtual control law and the law of renewal Substituting into the differentiated Lyapunov function, we obtain: , It is a constant. For error variables; As can be seen from all the above derivation steps, the error constraint between the actual rotation speed and the unknown wind speed of the detection and control method of the anti-external interference system of the high-voltage power line maintenance robot is semi-globally stable.

6. A detection system for the anti-external interference system of a high-voltage power line maintenance robot, characterized in that, It includes a transformation module, a constraint module, a reverse design module, a judgment module, and an analysis module; The conversion module transforms the state equation of the high-voltage power line maintenance robot under the influence of unknown wind speed during its movement. The unknown wind speed is used as a nonlinear system to construct an anti-external interference closed-loop system for the high-voltage power line maintenance robot. The constraint module uses neural network approximation technology to constrain the unknown wind speed and obtains the error variable function based on the constraint conditions. The reverse design module designs a virtual control law as the actual input of the anti-external interference closed-loop system based on the reverse design method, and designs the rotation speed of the high-voltage power line maintenance robot as the adaptive update law. The closed-loop system model for the high-voltage power line maintenance robot to resist external interference is as follows: in, The motor blade speed of the high-voltage power line maintenance robot. To control the input, To control the output, It is an unknown smooth continuous function, which is affected by unknown external wind speed disturbance, where ; The virtual control law is as follows: The adaptive update law is as follows: For virtual control laws, , It is a constant. For error variables, Therefore The optimal weight vector is bounded. for The estimated value, For a smooth finite function, Indicates network reconstruction error. for The derivative; The judgment module constructs the Lyapunov function of the anti-external disturbance closed-loop system of the high-voltage power line maintenance robot and calculates its derivative. It then substitutes the virtual control law and the adaptive update law into the derivative of the Lyapunov function to determine whether the derivative of the Lyapunov function is less than or equal to zero. If it is, the variables of the anti-external disturbance closed-loop system can eventually be bounded, and the analysis module continues to work. If not, the variables of the closed-loop system cannot eventually be bounded, and the module returns to the reverse design module to redesign the virtual control law and the adaptive update law. The analysis module performs stability analysis on the anti-external interference closed-loop system, proving that the constraint condition of unknown wind speed is not violated, and obtains deterministic expressions for tracking error and convergence time, confirming that the error control performance of the anti-external interference closed-loop system meets the requirements, and that the high-voltage power line maintenance robot can perform stable maintenance under wind speed interference.

7. A detection device for the anti-external interference system of a high-voltage power line maintenance robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is loaded into the processor, it implements the detection method of the anti-external interference system of the high-voltage power line maintenance robot according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the detection method of the anti-external interference system of the high-voltage power line maintenance robot according to any one of claims 1 to 5.

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