Control method, device and equipment of insulator cleaning robot, storage medium and program product

Abstract

The invention discloses a control method, device and equipment of an insulator cleaning robot, a storage medium and a program product, and the method comprises the steps: determining the equivalent rotational inertia of the insulator cleaning robot based on the motor output torque, the motor angular velocity and the motor instantaneous angular acceleration of the insulator cleaning robot; under the condition that coupling interference exists among all shafts of the insulator cleaning robot, determining cross coupling compensation torque based on a mechanical arm joint angle, equivalent rotational inertia and an inertia change sensitivity coefficient of the insulator cleaning robot and a speed tracking error vector corresponding to a motor instantaneous angular speed; and the motor output torque is compensated based on the cross coupling compensation torque, and the insulator cleaning robot is driven to execute cleaning based on the compensated motor output torque. By adopting the method, the positioning accuracy can be improved in the insulator cleaning process of the insulator cleaning robot.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a control method, device, equipment, storage medium, and program product for an insulator cleaning robot. Background Art

[0002] Insulator cleaning robots are important equipment in the field of power system operation and maintenance, mainly used to remove dirt (such as dust, salt fog, etc.) on the surface of high-voltage transmission line insulators to prevent flashover accidents. The traditional control method for insulator cleaning robots mainly uses traditional fixed-parameter control algorithms. However, during the process of cleaning insulators, due to problems such as high-altitude operation, uneven dirt distribution, and complex porcelain skirt structures, the load of the insulator cleaning robot will change dynamically during movement. Therefore, it is difficult to meet the high-precision positioning requirements by using the traditional control method for insulator cleaning robots to control the insulator cleaning robot.

[0003] Therefore, how to improve the positioning accuracy of the insulator cleaning robot during the process of cleaning insulators has become an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of the present application provide a control method, device, equipment, storage medium, and program product for an insulator cleaning robot, which can improve the positioning accuracy of the insulator cleaning robot during the process of cleaning insulators.

[0005] In a first aspect, the embodiments of the present application provide a control method for an insulator cleaning robot, the method including:

[0006] Determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot;

[0007] In the case of coupling interference between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the mechanical arm joint angles, equivalent moment of inertia, inertia change sensitivity coefficient, and velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot;

[0008] Compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0009] In one embodiment, determining the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot includes: determining an intermediate value based on the motor angular velocity of the insulator cleaning robot and the viscous friction coefficient; inputting the motor output torque, intermediate value, and motor instantaneous angular acceleration of the insulator cleaning robot into a pre-constructed dynamic load identification model to obtain the equivalent moment of inertia of the insulator cleaning robot.

[0010] In one embodiment, the method further includes: taking the derivative of the motor angular velocity to obtain an initial motor instantaneous angular acceleration; determining the motor instantaneous angular acceleration based on the motor angular velocity, initial motor instantaneous angular acceleration, and porcelain group friction coefficient.

[0011] In one embodiment, determining the cross-coupling compensation torque based on the manipulator joint angle, equivalent moment of inertia, inertia change sensitivity coefficient, and velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot includes: determining a time-varying coupling compensation matrix based on the manipulator joint angle, time-varying attenuation factor, and coupling coefficient of the insulator cleaning robot; determining an inertia change compensation value based on the equivalent moment of inertia and inertia change sensitivity coefficient; inputting the time-varying coupling compensation matrix, inertia change compensation value, and velocity tracking error vector corresponding to the motor instantaneous angular velocity into a pre-constructed cross-coupling compensation torque calculation model to obtain the cross-coupling compensation torque.

[0012] In one embodiment, the method further includes: determining a parameter to be updated based on the velocity tracking error vector; updating the parameter to be updated based on the initial compensation torque and maximum output torque corresponding to the motor associated with the parameter to be updated, and the velocity tracking error vector; wherein the updated parameter value is used to determine a new cross-coupling compensation torque.

[0013] In one embodiment, updating the parameter to be updated based on the initial compensation torque and maximum output torque corresponding to the motor associated with the parameter to be updated, and the velocity tracking error vector includes: determining an adjustment amplitude corresponding to the parameter to be updated based on the initial compensation torque and maximum output torque corresponding to the motor associated with the parameter to be updated; determining a change amount corresponding to the parameter to be updated based on the velocity tracking error associated with the parameter to be updated in the velocity tracking error vector and the adjustment amplitude; updating the value of the parameter to be updated based on the change amount and the initial value of the parameter to be updated.

[0014] In a second aspect, the present application provides a control device for an insulator cleaning robot, and the device includes:

[0015] A determination module, configured to determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot;

[0016] The determination module is further configured to, in the case of coupling interference between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the manipulator joint angles, equivalent moment of inertia, inertia change sensitivity coefficient of the insulator cleaning robot, and the speed tracking error vector corresponding to the motor instantaneous angular velocity;

[0017] A processing module, configured to compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0018] In a third aspect, the present application provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0019] Determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot;

[0020] In the case of coupling interference between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the manipulator joint angles, equivalent moment of inertia, inertia change sensitivity coefficient of the insulator cleaning robot, and the speed tracking error vector corresponding to the motor instantaneous angular velocity;

[0021] Compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0022] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0023] Determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot;

[0024] In the case of coupling interference between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the manipulator joint angles, equivalent moment of inertia, inertia change sensitivity coefficient of the insulator cleaning robot, and the speed tracking error vector corresponding to the motor instantaneous angular velocity;

[0025] Compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0026] In a fifth aspect, the present application also provides a computer program product, including a computer program, which when executed by a processor, implements the following steps:

[0027] Based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot, determine the equivalent moment of inertia of the insulator cleaning robot;

[0028] In the case of coupling interference between the axes of the insulator cleaning robot, based on the robotic arm joint angles, equivalent moment of inertia, inertia change sensitivity coefficient, and the velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot, determine the cross-coupling compensation torque;

[0029] Based on the cross-coupling compensation torque, compensate the motor output torque, and based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning.

[0030] For the above control method, device, equipment, storage medium, and program product of the insulator cleaning robot, the insulator cleaning robot can determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot; in the case of coupling interference between the axes of the insulator cleaning robot, based on the robotic arm joint angles, equivalent moment of inertia, inertia change sensitivity coefficient, and the velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot, determine the cross-coupling compensation torque; based on the cross-coupling compensation torque, compensate the motor output torque, and based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning. By adopting this method, the insulator cleaning robot can capture the load changes caused by uneven dirt distribution on the insulator surface, wear of the cleaning brush, or change in the robotic arm configuration by determining the equivalent moment of inertia in real time, and in the case of coupling interference between the axes of the insulator cleaning robot (such as coupling interference caused by multi-axis movement or load mutation), determine the cross-coupling compensation torque used to compensate the motor output torque of the insulator cleaning robot. Then, based on the cross-coupling compensation torque, compensate the motor output torque, and based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning. In this way, the coupling interference caused by multi-axis movement or load mutation can be offset, and thus, the positioning accuracy of the insulator cleaning robot can be improved during the process of cleaning the insulator. Description of the Drawings

[0031] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for the description in the embodiments of the present application or the related art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0032] Figure 1 FIG. Figure 1 is a schematic flowchart of a control method for an insulator cleaning robot provided by an embodiment of the present application;

[0033] Figure 2 FIG. Figure 2 is a schematic flowchart of another control method for an insulator cleaning robot provided by an embodiment of the present application;

[0034] Figure 3 FIG. Figure 3 is a schematic structural diagram of a control device for an insulator cleaning robot provided by an embodiment of the present application;

[0035] Figure 4 FIG. Figure 4 is a schematic structural diagram of a robot provided by an embodiment of the present application. Detailed implementation manners

[0036] In order to make the purpose, technical solutions and advantages of the present application more clear, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] The following elaborates on the control method for the insulator cleaning robot provided by the embodiments of the present application.

[0038] Please refer to Figure 1 , Figure 1 FIG. Figure 1 is a schematic flowchart of a control method for an insulator cleaning robot provided by an embodiment of the present application. This method can be executed by the insulator cleaning robot. As Figure 1 shown, the control method for the insulator cleaning robot may include but is not limited to the following steps:

[0039] S101. Determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot.

[0040] Among them, the equivalent moment of inertia includes the change amount of the surface friction of the insulator.

[0041] In an alternative embodiment, the motor output torque can be obtained by backstepping based on the current loop.

[0042] Optionally, the motor output torque may include a first motor output torque of the X-axis motor and a second motor output torque of the Y-axis motor in the insulator cleaning robot.

[0043] In an alternative embodiment, the motor angular velocity may be obtained by differentiating the output value of the motor encoder. Optionally, the motor angular velocity may include a first motor angular velocity of the X-axis motor and a second motor angular velocity of the Y-axis motor in the insulator cleaning robot.

[0044] S102. In the case of coupling interference between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the robotic arm joint angles, equivalent moment of inertia, inertia change sensitivity coefficient, and the velocity tracking error vector corresponding to the instantaneous motor angular velocity of the insulator cleaning robot.

[0045] Among them, there is coupling interference between the axes. For example, the motor corresponding to the X-axis in the insulator cleaning robot affects the Y-axis during the acceleration process.

[0046] In an alternative embodiment, the velocity tracking error vector corresponding to the instantaneous motor angular velocity may be determined based on the actually obtained instantaneous motor angular velocity and the predicted instantaneous motor angular velocity.

[0047] Optionally, the actually obtained instantaneous motor angular velocity may be obtained by differentiating the output value of the motor encoder by the insulator cleaning robot in real time. Exemplarily, the insulator cleaning robot may differentiate the output value of the X-axis motor encoder in real time to obtain the instantaneous motor angular velocity of the X-axis motor (denoted as ω x ), and, differentiate the output value of the Y-axis motor encoder to obtain the instantaneous motor angular velocity of the Y-axis motor (denoted as ω y ).

[0048] Optionally, the predicted instantaneous motor angular velocity may be calculated by the insulator cleaning robot through the dynamic equation. Among them, the dynamic equation may be shown as the following formula (1).

[0049] (1)

[0050] In formula (1), J eq represents the equivalent moment of inertia; B represents the viscous friction coefficient; represents the angle of motor angular rotation; represents the motor angular velocity; represents the instantaneous motor angular acceleration.

[0051] S103. Compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0052] In the embodiment of the present application, the insulator cleaning robot can determine the equivalent moment of inertia of the insulator cleaning robot based on its own motor output torque, motor angular velocity, and motor instantaneous angular acceleration; in the case of coupling interference between the axes of the insulator cleaning robot, based on the robotic arm joint angle, equivalent moment of inertia, inertia change sensitivity coefficient, and the speed tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot, determine the cross-coupling compensation torque; based on the cross-coupling compensation torque, compensate the motor output torque, and based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning. By using this method, the insulator cleaning robot can capture the load changes caused by uneven dirt distribution on the insulator surface, wear of the cleaning brush, or change in the robotic arm configuration by determining the equivalent moment of inertia in real time, and in the case of coupling interference between the axes of the insulator cleaning robot (such as coupling interference caused by multi-axis movement or load mutation), determine the cross-coupling compensation torque for compensating the motor output torque of the insulator cleaning robot. Then, based on the cross-coupling compensation torque, compensate the motor output torque, and based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning. In this way, the coupling interference caused by multi-axis movement or load mutation can be offset, and thus, the positioning accuracy of the insulator cleaning robot can be improved during the process of cleaning the insulator.

[0053] In an alternative embodiment, Figure 1 In the control method of the insulator cleaning robot shown, the insulator cleaning robot determines the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot, which may include: determining an intermediate value based on the motor angular velocity and viscous friction coefficient of the insulator cleaning robot; inputting the motor output torque, intermediate value, and motor instantaneous angular acceleration of the insulator cleaning robot into a pre-constructed dynamic load identification model to obtain the equivalent moment of inertia of the insulator cleaning robot.

[0054] In some embodiments, when determining the intermediate value based on the motor angular velocity and viscous friction coefficient of the insulator cleaning robot, the product between the motor angular velocity and viscous friction coefficient of the insulator cleaning robot may be used as the intermediate value.

[0055] In some embodiments, the pre-constructed dynamic load identification model can be expressed as the following formula (2).

[0056] (2)

[0057] In formula (2), J eq (t) represents the equivalent moment of inertia at the t-th moment; (t) represents the motor output torque at the t-th moment; represents the angular velocity of the motor at the t-th moment; B represents the viscous friction coefficient; represents the instantaneous angular acceleration of the motor at the t-th moment.

[0058] By adopting this embodiment, the insulator cleaning robot can calculate the equivalent moment of inertia in real time, so as to capture the load changes caused by uneven dirt distribution on the insulator surface, wear of the cleaning brush or changes in the manipulator configuration. Furthermore, it is beneficial to determine the cross-coupling compensation torque for compensating the motor output torque of the insulator cleaning robot based on the equivalent moment of inertia in the case of coupling interference between the axes of the insulator cleaning robot.

[0059] In an alternative embodiment, Figure 1 In the control method of the insulator cleaning robot shown, the instantaneous angular acceleration of the motor can be determined by the insulator cleaning robot in the following way: differentiating the angular velocity of the motor to obtain the initial instantaneous angular acceleration of the motor; determining the instantaneous angular acceleration of the motor based on the angular velocity of the motor, the initial instantaneous angular acceleration of the motor, and the porcelain group friction coefficient.

[0060] In some embodiments, when the insulator cleaning robot determines the instantaneous angular acceleration of the motor based on the angular velocity of the motor, the initial instantaneous angular acceleration of the motor, and the porcelain group friction coefficient, the following formula (3) can be used.

[0061] (3)

[0062] In formula (3), represents the instantaneous angular acceleration of the motor at the t-th moment; represents the initial instantaneous angular acceleration of the motor at the t-th moment; K f represents the porcelain group friction coefficient, and its usual value range is [0.2, 0.6]; represents the angular velocity of the motor at the t-th moment; sgn() represents the sign function, which is used to return an integer variable indicating the sign of the parameter. Among them, by using the sign function, the amplification of encoder differential noise can be avoided; through term, the nonlinear characteristics of the porcelain skirt contact friction can be quantified.

[0063] By adopting this embodiment, the insulator cleaning robot can quantify the nonlinear characteristics of the porcelain group contact friction, such as the friction difference between wet dirt and dry dirt, by introducing the porcelain group friction coefficient. In this way, the determined instantaneous angular acceleration of the motor can be made more accurate.

[0064] In an alternative embodiment, Figure 1In the control method of the insulator cleaning robot shown, the insulator cleaning robot determines the cross-coupling compensation torque based on the robotic arm joint angles, equivalent moment of inertia, inertia change sensitivity coefficient, and the velocity tracking error vector corresponding to the instantaneous angular velocity of the motor, which may include: determining a time-varying coupling compensation matrix based on the robotic arm joint angles, time-varying attenuation factor, and coupling coefficient of the insulator cleaning robot; determining an inertia change compensation value based on the equivalent moment of inertia and the inertia change sensitivity coefficient; and inputting the time-varying coupling compensation matrix, the inertia change compensation value, and the velocity tracking error vector corresponding to the instantaneous angular velocity of the motor into a pre-constructed cross-coupling compensation torque calculation model to obtain the cross-coupling compensation torque.

[0065] In some embodiments, when the insulator cleaning robot determines the time-varying coupling compensation matrix based on the robotic arm joint angles, time-varying attenuation factor, and coupling coefficient of the insulator cleaning robot, the following formula (4) may be used.

[0066] (4)

[0067] In formula (4), A represents the time-varying coupling compensation matrix; θ represents the robotic arm joint angles; λ represents the time-varying attenuation factor, which can make the compensation intensity decrease with time to avoid over-compensation; k 11 、k 12 、k 21 and k 22 are all coupling coefficients. Among them, k 11 and k 22 are the main coupling coefficients, which are respectively used to suppress the self-disturbance of the X-axis and Y-axis; can be called the time-varying cross-coupling term, which is used to suppress sudden disturbances (such as disturbances caused by sudden strong winds); can be called the attitude-related coupling term, which is used to suppress the interference caused by the movement of the robotic arm (such as the torque interference of the robotic arm extension on the chassis in the insulator cleaning robot).

[0068] In some embodiments, when the insulator cleaning robot determines the inertia change compensation value based on the equivalent moment of inertia and the inertia change sensitivity coefficient, the following formula (5) may be used.

[0069] (5)

[0070] In formula (5), B represents the inertia change compensation value; η represents the inertia change sensitivity coefficient, and its value range is usually [0.05, 0.15]; J eq represents the equivalent moment of inertia. Among them, dJ eq / dt represents the change rate of the equivalent moment of inertia, which can be used to determine the change trend of the load.

[0071] In some embodiments, the speed tracking error vector corresponding to the instantaneous angular velocity of the motor can be determined by the insulator cleaning robot according to the following formula (6).

[0072] (6)

[0073] In formula (6), C represents the speed tracking error vector corresponding to the instantaneous angular velocity of the motor; represents the actual angular velocity of the X-axis motor; represents the predicted angular velocity of the X-axis motor; represents the actual angular velocity of the Y-axis motor; represents the predicted angular velocity of the Y-axis motor.

[0074] In some embodiments, the pre-constructed cross-coupling compensation torque calculation model can be expressed as the following formula (7).

[0075] (7)

[0076] In formula (7), represents the cross-coupling compensation torque; A represents the time-varying coupling compensation matrix; C represents the speed tracking error vector corresponding to the instantaneous angular velocity of the motor; B represents the inertia change compensation value.

[0077] Combining the above formulas (4) to (6), formula (7) can be transformed into the following formula (8).

[0078] (8)

[0079] For the physical meanings of the parameters in formula (8), reference can be made to the descriptions of the physical meanings of the parameters in the foregoing formulas (4) to (7), and no further elaboration will be given here.

[0080] The insulator cleaning robot can handle disturbances in different cases according to the above formula (8). For example, for transient disturbances (such as sudden strong winds), the insulator cleaning robot can automatically perform attenuation compensation to avoid continuous overshoot; for steady-state disturbances (such as slopes), constant compensation can be provided through k 11 and k 12 ; when it is detected that there is brush entanglement, a compensation torque is provided through the η term, and in this case, the response will be delayed by 1 ms.

[0081] With this embodiment, the insulator cleaning robot can determine the cross-coupling compensation torque for compensating the motor output torque of the insulator cleaning robot based on the mechanical arm joint angles, equivalent moments of inertia, inertia change sensitivity coefficients, and speed tracking error vectors corresponding to the instantaneous angular velocities of the motors of the insulator cleaning robot. Thus, the motor output torque can be compensated based on this cross-coupling compensation torque, and the insulator cleaning robot can be driven to perform cleaning based on the compensated motor output torque. In this way, the coupling interference caused by multi-axis motion or load mutation can be offset, and thus, the positioning accuracy of the insulator cleaning robot can be improved during the process of cleaning the insulator.

[0082] In an alternative embodiment, Figure 1 In the control method of the insulator cleaning robot shown, the insulator cleaning robot can also determine the parameter to be updated based on the speed tracking error vector; update the parameter to be updated based on the initial compensation torque and maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector; wherein, the updated parameter value is used to determine a new cross-coupling compensation torque.

[0083] Wherein, the parameter to be updated is the coupling coefficient corresponding to the element in the i-th row and j-th column of the aforementioned time-varying coupling compensation matrix.

[0084] Optionally, for the insulator robot to determine the parameter to be updated based on the speed tracking error vector, it may include: when it is determined that the motor angular velocity error of the X-axis motor is greater than 0, determining the parameter to be updated as k 11 , to reduce the compensation intensity; when it is determined that the motor angular velocity error of the Y-axis motor is greater than 0, determining the parameter to be updated as k 22 , to reduce the compensation intensity.

[0085] Wherein, the motor angular velocity error of the X-axis motor can be determined by the following formula (9).

[0086] (9)

[0087] In formula (9), represents the motor angular velocity error of the X-axis motor; represents the actual motor angular velocity of the X-axis motor; represents the predicted motor angular velocity of the X-axis motor.

[0088] Wherein, the motor angular velocity error of the Y-axis motor can be determined by the following formula (10).

[0089] (10)

[0090] In formula (10), represents the motor angular velocity error of the Y-axis motor; represents the actual motor angular velocity of the Y-axis motor; represents the predicted motor angular velocity of the Y-axis motor.

[0091] In some embodiments, the insulator cleaning robot updates the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector, which may include: determining the adjustment amplitude corresponding to the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated; determining the change amount corresponding to the parameter to be updated based on the speed tracking error associated with the parameter to be updated in the speed tracking error vector and the adjustment amplitude; and updating the value of the parameter to be updated based on the change amount and the initial value of the parameter to be updated.

[0092] Optionally, when the insulator cleaning robot determines the adjustment amplitude corresponding to the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, the following formula (11) may be used.

[0093] (11)

[0094] In formula (11), D represents the adjustment amplitude for the parameter to be updated; represents the initial compensation torque corresponding to the motor associated with the i-th parameter; represents the maximum output torque corresponding to the motor associated with the i-th parameter.

[0095] Optionally, when the insulator cleaning robot determines the change amount corresponding to the parameter to be updated based on the speed tracking error associated with the parameter to be updated in the speed tracking error vector and the adjustment amplitude, the following formula (12) may be used.

[0096] (12)

[0097] In formula (12), represents the corresponding change amount; k ij represents the coupling coefficient of the element corresponding to the i-th row and the j-th column in the time-varying coupling compensation matrix; γ represents the learning rate, which is used to control the update speed of the parameter. Among them, the larger the value of γ, the faster the parameter change amount converges, but it may cause oscillation; the diag() function is used to extract the speed tracking error associated with the parameter to be updated from the speed error tracking phase; represents the speed error tracking vector; sat() is a saturation function used to limit the adjustment amplitude for the parameter to be updated to prevent algorithm divergence caused by sensor noise or extreme disturbances. For example, it can be limited not to exceed the safety margin of the maximum motor torque (for example, 80%) to prevent actuator saturation; D, and The physical meanings of and can be referred to the descriptions of the physical meanings of the parameters in formula (11) above, and will not be elaborated here.

[0098] Adopting this implementation manner, the insulator cleaning robot can determine the parameter to be updated based on the speed tracking error vector; update the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector; wherein, the updated parameter value is used to determine the new cross-coupling compensation torque. In this way, it is beneficial to improve the stability of the insulator cleaning robot during the cleaning process and make it more suitable for cleaning the surfaces of insulators under various complex working conditions.

[0099] In an alternative implementation manner, Figure 1 in the control method of the insulator cleaning robot shown, after determining the equivalent moment of inertia, the insulator cleaning robot can also determine whether it meets the warning condition based on the equivalent inertia, and output a warning message when it is determined that the warning condition is met.

[0100] Exemplarily, the warning condition can be that multiple equivalent inertias continuously increase within a preset time period; or, the warning condition can be that the equivalent moment of inertia at the current moment is greater than the preset equivalent moment of inertia threshold, etc.

[0101] Next, a general description of the control method of the insulator cleaning robot provided by the embodiments of the present application will be given. Please refer to Figure 2 , Figure 2 is a schematic flowchart of another control method of the insulator cleaning robot provided by the embodiments of the present application. As Figure 2 shown, the control method of the insulator cleaning robot may include but is not limited to the following steps:

[0102] S201. Determine the instantaneous motor angular acceleration based on the angular velocity of the motor of the insulator cleaning robot, the initial instantaneous motor angular acceleration, and the porcelain group friction coefficient.

[0103] Exemplarily, assume that the angular velocity of the motor is 2.1 rad / s, the porcelain group friction coefficient is 0.3 Nm, and the initial instantaneous motor angular acceleration is 0.5 rad / s 2 , then the insulator cleaning robot can use the aforementioned formula (3) to determine the instantaneous motor angular velocity as: .

[0104] S202. Determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, viscous friction coefficient, and motor instantaneous angular acceleration of the insulator cleaning robot.

[0105] Continuing with the example in step S201, assuming the motor output torque is 5.2 Nm and the viscous friction coefficient is 0.12, the insulator cleaning robot can use the aforementioned formula (2) to determine that the equivalent moment of inertia of the insulator cleaning robot is:

[0106] 。

[0107] S203. In the case of coupling interference between the axes of the insulator cleaning robot, determine the time-varying coupling compensation matrix based on the manipulator joint angles, time-varying attenuation factor, and coupling coefficient of the insulator cleaning robot.

[0108] Exemplarily, assuming the manipulator joint angle is 45 degrees, the time-varying attenuation factor is 18, the coupling coefficient k11 is 0.5, k12 is 0.25, k21 is 0.3, and k22 is 0.6, the insulator cleaning robot can use the aforementioned formula (4) to determine the time-varying coupling compensation matrix as:

[0109] 。

[0110] S204. Determine the inertia change compensation value based on the equivalent moment of inertia and the inertia change sensitivity coefficient, and determine the speed tracking error vector corresponding to the motor instantaneous angular velocity based on the actual motor angular velocity and the predicted motor angular velocity.

[0111] Continuing with the above example, assuming the change rate of the equivalent moment of inertia determined based on the equivalent moment of inertia at the current moment is 0.3 and the inertia change sensitivity coefficient is 0.08, the insulator cleaning robot can use the aforementioned formula (5) to determine the inertia change compensation value as:

[0112] 。

[0113] S205. Determine the cross-coupling compensation torque based on the time-varying coupling compensation matrix, the inertia change compensation value, and the speed tracking error vector corresponding to the motor instantaneous angular velocity.

[0114] Continuing with the above example, assuming the speed tracking error vector corresponding to the motor instantaneous angular velocity is [0.15 -0.08] T , then the insulator cleaning robot can use the aforementioned formula (8) to determine the cross-coupling compensation torque as:

[0115] 。

[0116] Among them, 0.0957 Nm is the compensation for the output torque of the X-axis motor, which is used to offset the Y-axis motion coupling; 0.0078 Nm is the compensation for the output torque of the Y-axis motor, which is used to correct the rigidity caused by the change in the equivalent moment of inertia.

[0117] S206. Based on the cross-coupling compensation torque, compensate the output torque of the motor, and based on the compensated output torque of the motor, drive the insulator cleaning robot to perform cleaning.

[0118] Continuing with the above example, after step S206, assuming that the insulator cleaning robot determines the parameters to be updated as k 11 and k 12 based on the speed tracking error vector, and assuming that the motor associated with k 11 is the X-axis motor and the motor associated with k 12 is the Y-axis motor, and assuming that the maximum output torques of both the X-axis motor and the Y-axis motor are 10 Nm, then the insulator cleaning robot can determine the initial compensation torques and the maximum output torques corresponding to the motors respectively associated with k 11 and k 12 , and use the aforementioned formula (11) to determine the adjustment amplitudes corresponding to k 11 and k 12 as follows:

[0119] D k11 = 0.0957 Nm / 10 Nm = 0.00957; D k12 = 0.0078 Nm / 10 Nm = 0.00078.

[0120] Then, the insulator cleaning robot can determine the saturation function values corresponding to k 11 and k 12 respectively. Among them, the saturation function corresponding to K 11 is sat(D k11 ) = sat(0.00957) = 0.00957; the saturation function corresponding to k12 is sat(D k12 ) = sat(0.00078) = 0.00078. At this time, the insulator cleaning robot can determine that the saturation function value corresponding to k 11 does not exceed the safety margin (such as 80%) of the maximum output torque of 10 Nm of the X-axis motor, and the saturation function value corresponding to k 12 does not exceed the safety margin (such as 80%) of the maximum output torque of 10 Nm of the Y-axis motor.

[0121] After that, the insulator cleaning robot can determine k 11 and k 12The corresponding change amounts respectively. Assume that the learning rate in formula (12) is 0.06, then k 11 and k 12 The corresponding change amounts respectively are:

[0122] ;

[0123] .

[0124] Among them, dk 11 / dt can also be expressed as ; dk 12 / dt can also be expressed as .

[0125] Assume that the update time interval is , then at 0.01 s after the current moment, k 11 and k 12 The updated parameter values corresponding respectively are respectively:

[0126] ;

[0127] .

[0128] Finally, the insulator cleaning robot can determine a new cross-coupling compensation torque based on the updated parameter values, and use the new cross-coupling compensation torque to compensate the motor output torque; based on the compensated motor output torque, drive the insulator cleaning robot to perform cleaning.

[0129] By adopting the embodiment of the present application, the insulator cleaning robot can capture the load changes caused by uneven dirt distribution on the insulator surface, wear of the cleaning brush or change of the manipulator configuration by determining the equivalent moment of inertia in real time, and determine the cross-coupling compensation torque for compensating the motor output torque of the insulator cleaning robot in the case of coupling interference existing between the axes of the insulator cleaning robot (such as the coupling interference caused by multi-axis movement or load mutation). After that, compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque. In this way, the coupling interference caused by multi-axis movement or load mutation can be offset, and thus, the positioning accuracy of the insulator cleaning robot can be improved during the process of cleaning the insulator.

[0130] In order to verify the performance of the control method of the insulator cleaning robot provided by the embodiment of the present application, the following experiment was conducted. Among them, the initial conditions are: t = 0, , ; t = 0.2, a strong wind suddenly blows, resulting in Suddenly drop to 0.5 rad / s. At this time, after adopting the method provided by the embodiment of the present application, the data is shown in Table 1 below.

[0131] Table 1

[0132]

[0133] As can be seen from Table 1 above, for the disturbance caused by a sudden strong wind, by adopting the method provided by the embodiment of the present application, a compensation torque of 0.357 Nm can be generated within 0.2 s, so as to quickly offset the influence brought by the strong wind. In addition, the parameter k11 returns to the steady-state value after 0.4 s, avoiding parameter drift; the trajectory error of the insulator cleaning robot converges from 2.1 mm to 0.1 mm within 1 s. It can be seen that by adopting the method provided by the embodiment of the present application, the positioning accuracy of the insulator cleaning robot can be improved during the process of cleaning the insulators.

[0134] Optionally, the method provided by the embodiment of the present application is not only applicable to the control of the insulator cleaning robot, but can also be applied to the control process of other special power robots (such as wire inspection robots, substation operation robots, etc.), which is not limited here.

[0135] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps do not necessarily need to be executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily need to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily need to be sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0136] Based on the same inventive concept, the embodiment of the present application also provides a control device for an insulator cleaning robot for implementing the control method of the insulator cleaning robot involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the control device for the insulator cleaning robot provided below can refer to the limitations on the control method of the insulator cleaning robot in the above text, and will not be repeated here. [[ID=I9]]

[0137] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a control device for an insulator cleaning robot provided by the embodiment of the present application. As Figure 3As shown, the control device of the insulator cleaning robot may include but is not limited to:

[0138] A determination module 301, configured to determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot;

[0139] The determination module 301 is further configured to, in the case of coupling interference existing between the axes of the insulator cleaning robot, determine the cross-coupling compensation torque based on the mechanical arm joint angle, equivalent moment of inertia, inertia change sensitivity coefficient, and velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot;

[0140] A processing module 302, configured to compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

[0141] In one embodiment, when the determination module 301 is configured to determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot, it is specifically configured to: determine the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot.

[0142] In one embodiment, the determination module 301 is further configured to: take the derivative of the motor angular velocity to obtain the initial motor instantaneous angular acceleration; determine the motor instantaneous angular acceleration based on the motor angular velocity, the initial motor instantaneous angular acceleration, and the porcelain group friction coefficient.

[0143] In one embodiment, when the determination module 301 is configured to determine the cross-coupling compensation torque based on the mechanical arm joint angle, equivalent moment of inertia, inertia change sensitivity coefficient, and velocity tracking error vector corresponding to the motor instantaneous angular velocity of the insulator cleaning robot, it is specifically configured to: determine the time-varying coupling compensation matrix based on the mechanical arm joint angle, time-varying attenuation factor, and coupling coefficient of the insulator cleaning robot; determine the inertia change compensation value based on the equivalent moment of inertia and the inertia change sensitivity coefficient; input the time-varying coupling compensation matrix, the inertia change compensation value, and the velocity tracking error vector corresponding to the motor instantaneous angular velocity into a pre-constructed cross-coupling compensation torque calculation model to obtain the cross-coupling compensation torque.

[0144] In one embodiment, the determination module 301 is further configured to determine the parameter to be updated based on the velocity tracking error vector; the processing module 302 is further configured to update the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the velocity tracking error vector; wherein, the updated parameter value is used to determine a new cross-coupling compensation torque.

[0145] In one embodiment, when the processing module 302 is used to update the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector, it is specifically used to: determine the adjustment amplitude corresponding to the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated; determine the change amount corresponding to the parameter to be updated based on the speed tracking error associated with the parameter to be updated in the speed tracking error vector and the adjustment amplitude; update the value of the parameter to be updated based on the change amount and the initial value of the parameter to be updated.

[0146] Each module in the control device of the above-mentioned insulator cleaning robot can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor in the terminal device in hardware form or be independent of it, or can be stored in the memory in the terminal device in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0147] In an exemplary embodiment, the embodiments of the present application provide a robot, and its internal structure diagram can be as Figure 4 shown. The robot includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used for the processor to exchange information with external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it realizes a control method of a robot. The display unit of the robot is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the robot can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the shell of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0148] Those skilled in the art can understand that Figure 4The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0149] In an alternative embodiment, the insulator cleaning robot may be composed of the following hardware resources shown in Table 2 below.

[0150] Table 2

[0151]

[0152] In an exemplary embodiment, the present application provides a computer device, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above control method of the insulator cleaning robot are implemented.

[0153] In an exemplary embodiment, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above control method of the insulator cleaning robot are implemented.

[0154] In an exemplary embodiment, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps in the above control method of the insulator cleaning robot are implemented.

[0155] It should be noted that the data involved in the present application (including but not limited to motor output torque, motor angular velocity, motor instantaneous angular acceleration, equivalent moment of inertia, error vector corresponding to motor instantaneous angular velocity, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0156] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0157] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0158] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several variations and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A control method for an insulator cleaning robot, characterized in that The method includes: Determining the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot; In the case of coupling interference existing between the axes of the insulator cleaning robot, determining the cross-coupling compensation torque based on the manipulator joint angles of the insulator cleaning robot, the equivalent moment of inertia, the inertia change sensitivity coefficient, and the speed tracking error vector corresponding to the motor instantaneous angular velocity; Compensating the motor output torque based on the cross-coupling compensation torque, and driving the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

2. The method according to claim 1, wherein The determining the equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot includes: Determining an intermediate value based on the motor angular velocity and the viscous friction coefficient of the insulator cleaning robot; Inputting the motor output torque, the intermediate value, and the motor instantaneous angular acceleration of the insulator cleaning robot into a pre-constructed dynamic load identification model to obtain the equivalent moment of inertia of the insulator cleaning robot.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Taking the derivative of the motor angular velocity to obtain an initial motor instantaneous angular acceleration; Determining the motor instantaneous angular acceleration based on the motor angular velocity, the initial motor instantaneous angular acceleration, and the porcelain group friction coefficient.

4. The method according to claim 1, wherein The determining the cross-coupling compensation torque based on the manipulator joint angles of the insulator cleaning robot, the equivalent moment of inertia, the inertia change sensitivity coefficient, and the speed tracking error vector corresponding to the motor instantaneous angular velocity includes: Determining a time-varying coupling compensation matrix based on the manipulator joint angles of the insulator cleaning robot, the time-varying attenuation factor, and the coupling coefficient; Determining an inertia change compensation value based on the equivalent moment of inertia and the inertia change sensitivity coefficient; Inputting the time-varying coupling compensation matrix, the inertia change compensation value, and the speed tracking error vector corresponding to the motor instantaneous angular velocity into a pre-constructed cross-coupling compensation torque calculation model to obtain the cross-coupling compensation torque.

5. The method according to claim 4, wherein The method further includes: Determining a parameter to be updated based on the speed tracking error vector; Updating the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector; wherein, the updated parameter value is used to determine a new cross-coupling compensation torque.

6. The method according to claim 5, wherein The updating the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated, and the speed tracking error vector includes: Determining an adjustment amplitude corresponding to the parameter to be updated based on the initial compensation torque and the maximum output torque corresponding to the motor associated with the parameter to be updated; Determining a change amount corresponding to the parameter to be updated based on the speed tracking error associated with the parameter to be updated in the speed tracking error vector and the adjustment amplitude; Updating the value of the parameter to be updated based on the change amount and the initial value of the parameter to be updated.

7. A control device for an insulator cleaning robot, characterized in that, The device includes: a determination module configured to determine an equivalent moment of inertia of the insulator cleaning robot based on the motor output torque, motor angular velocity, and motor instantaneous angular acceleration of the insulator cleaning robot; the determination module is further configured to determine a cross-coupling compensation torque based on the manipulator joint angles of the insulator cleaning robot, the equivalent moment of inertia, the inertia change sensitivity coefficient, and the speed tracking error vector corresponding to the motor instantaneous angular velocity in the case of coupling interference existing between the axes of the insulator cleaning robot; a processing module configured to compensate the motor output torque based on the cross-coupling compensation torque, and drive the insulator cleaning robot to perform cleaning based on the compensated motor output torque.

8. A computer device, characterized in that, It includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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