Overhead transmission line double-split spacer full-automatic installation robot and control method thereof

Abstract

The invention discloses an overhead transmission line double-split spacer full-automatic installation robot and a control method thereof, and relates to the technical field of power specialized robots and automatic control. The objective of the invention is to solve the problems of low trajectory tracking precision and slow convergence speed of an existing power transmission line operation and maintenance robot. The climbing mechanism is used for carrying the robot body on the overhead transmission line through the V-shaped wheels and can move on the overhead transmission line; the storage and conveying mechanism is used for bearing and conveying the spacer to a mounting position through the wheel belt structure; the lifting mechanism is used for moving the spacer to a mounting height; the closing mechanism is used for driving the spacer outer page to close; and the pin pushing mechanism is used for pushing the self-locking pin of the spacer outer page to a locking position. And a control method based on a fixed time disturbance observer and a non-singular fixed time sliding mode is designed based on the robot, so that the robustness and the response speed of the whole closed-loop system are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric power special robots and automatic control. BACKGROUND

[0002] As the main artery of power transmission, the safe and stable operation of overhead transmission lines is of great importance. The spacer of double-bundle conductors is a key hardware in the transmission line, which is used to maintain the spacing between the sub-conductors and suppress the wind vibration and sub-span oscillation of the conductors. At present, the installation and maintenance of the spacer mainly rely on manual live-line work or power-off work. This method not only has high labor intensity and low efficiency, but also has high safety risk of high-altitude operation. Therefore, it has become an urgent demand of the electric power industry to develop a fully automatic installation robot to realize "machine replacing man".

[0003] Most of the existing transmission line maintenance robots are designed for the purpose of inspection or simple cleaning, and their mechanisms have limitations. For the task of spacer installation, which is a delicate operation, the existing robots often lack a dedicated end effector that can adapt to complex assembly processes. Meanwhile, working on a flexible cable in high altitude, strong electromagnetic and strong wind disturbance puts high requirements on the robot body: it must have a high-strength lightweight structure, stable obstacle crossing and on-line moving ability, precise conductor positioning and clamping mechanism, and a multi-degree-of-freedom operation unit that can complete a series of complex actions such as "grabbing, aligning, assembling and fastening". At present, there is still a lack of special robot mechanism design that can fully adapt to the environment of double-bundle conductors and efficiently complete the whole installation process of the spacer.

[0004] Even if there is a suitable body, its control also faces great difficulties. The working space is on a flexible conductor in high altitude, and when the robot moves and performs installation actions, it not only continuously suffers from external disturbances such as strong wind and electromagnetic interference, but also needs to cope with internal dynamics uncertainties caused by joint friction, load changes of the robot itself, and coupling vibration between the robot and the flexible conductor. Traditional PID control or ordinary sliding mode control methods have insufficient robustness when facing such strong time-varying and nonlinear compound disturbances, and it is difficult to guarantee high-precision trajectory tracking and stable end operation force control.

[0005] In addition, in practical engineering tasks such as spacer installation, there are strict requirements on the efficiency of the work, which requires the control system not only to be stable, but also to converge to the desired trajectory within a limited time. Traditional gradual convergence control cannot predict the exact convergence time, while the convergence time of general finite time control often depends on the initial state of the system. If the initial error is large, the convergence time will be significantly prolonged, which is not conducive to the fast-paced and standardized fully automatic installation work.

[0006] In summary, the core gap in existing technologies lies in the lack of a solution that integrates a dedicated mechanism with intelligent control. Specifically, on the one hand, it requires the innovative design of a robot body mechanism capable of adapting to double-split conductor environments and possessing high dexterity; on the other hand, it necessitates the design of a sophisticated control algorithm that can robustly suppress combined internal and external disturbances and achieve high-precision trajectory tracking and force control within a predetermined timeframe independent of the initial state. Overcoming this integrated challenge is crucial for realizing the fully automated spacer installation robot from concept to engineering application. Summary of the Invention

[0007] This application aims to address the problems of low trajectory tracking accuracy and slow convergence speed in the control of existing power transmission line maintenance robots due to external wind load disturbances, system parameter uncertainties, and the influence of flexible conductor coupling. It provides a fully automatic robot for installing double-split spacer bars on overhead power transmission lines and its control method.

[0008] The first aspect of this application provides a fully automated robot for installing double-split spacers in overhead power lines, including: a climbing mechanism, a storage and conveying mechanism, a sales mechanism, a lifting mechanism, and a closing mechanism integrated on a connecting frame;

[0009] The climbing mechanism is used to mount the robot body on the overhead power line via V-shaped wheels, and is able to move on the overhead power line;

[0010] The storage and conveying mechanism is used to carry and transport the spacer to the installation position via a tire structure;

[0011] The lifting mechanism is used to move the spacer to the installation height;

[0012] The closing mechanism is used to drive the outer pages of the spacer bar to close;

[0013] The pushing mechanism is used to push the self-locking pin of the outer page of the spacer to the locked position.

[0014] In one possible design, the climbing mechanism includes: a V-wheel, a flange shaft, a wheel motor, and a track wheel coupling;

[0015] The output shaft of the wheel motor is fixedly connected to the flange shaft via the track wheel coupling, and the V-shaped wheel is coaxially fitted outside the flange shaft, so that the wheel motor can drive the V-shaped wheel to rotate when it starts.

[0016] In one possible design, the storage and conveying mechanism includes: a drive pulley, a tension pulley, and multiple driven pulleys simultaneously connected by a synchronous belt; two side plates; a drive pulley motor; a base; a tension pulley mounting plate; and bolt and nut seats.

[0017] The tensioning wheel mounting plate and the nut seat are fixed on the two side plates respectively, a strip-shaped hole is formed on the tensioning wheel mounting plate, a through hole is formed on the base, the wheel shaft of the tensioning wheel passes through the base and the tensioning wheel mounting plate in sequence, the wheel shaft of the tensioning wheel is embedded in the strip-shaped groove of the tensioning wheel mounting plate through the tensioning flange bearing, so that the tensioning wheel can move along the strip-shaped groove, one end of the bolt passes through the threaded hole of the nut seat and is connected with the base, when the bolt is rotated, the base can be pushed to drive the wheel shaft to move along the strip-shaped groove, so that the synchronous belt is tensioned;

[0018] The wheel shafts of the driving wheel and the plurality of driven wheels are clamped between the two side plates, the driving wheel and the plurality of driven wheels are engaged with each other, the output shaft of the driving wheel motor is coaxially connected with the driving wheel through a driving wheel shaft coupling, so that the driving wheel motor can drive the driving wheel and the plurality of driven wheels to rotate when the driving wheel motor is started, and then the torque is transmitted through the synchronous belt.

[0019] In one possible design, the pushing mechanism includes a pushing block and a pushing motor.

[0020] The pushing block is fixed on the moving end of the pushing motor, the pushing motor can drive the pushing block to move forward or backward, so that the pushing block can push the self-locking pin of the interval rod to be installed to the locking position.

[0021] The lifting mechanism includes a placing plate and a lead screw motor.

[0022] The placing plate is used for carrying the interval rod to be installed, and the placing plate is fixed on the moving end of the lead screw motor, and the lead screw motor can drive the placing plate to move up and down.

[0023] The closing mechanism includes a linear motor and a push rod.

[0024] The push rod is fixed on the moving end of the linear motor, and the linear motor can drive the push rod to push the interval rod outer page of the interval rod to be installed to be closed.

[0025] The second aspect of the application provides a control method of the overhead power transmission line double-split interval rod full-automatic installation robot, including:

[0026] A robot dynamics model is established;

[0027] A fixed-time sliding mode disturbance observer is established based on the robot dynamics model;

[0028] A non-singular fixed-time sliding mode surface is designed based on the fixed-time sliding mode disturbance observer;

[0029] The non-singular fixed-time sliding mode surface is used to construct a fixed-time sliding mode controller of the overhead power transmission line double-split spacer bar full-automatic installation robot, so as to realize control of the overhead power transmission line double-split spacer bar full-automatic installation robot.

[0030] In one possible design, the expression of the robot dynamics model is:

[0031] ,

[0032] wherein, , and are rotor angle position vector, rotor angular velocity vector and rotor angular acceleration vector of the motor at each joint of the robot respectively, is an inertia matrix, is a centripetal force matrix, is a gravity term, is a motor control torque, is an external disturbance torque.

[0033] In one possible design, the expression of the fixed-time sliding mode disturbance observer is:

[0034] ,

[0035] wherein, is an estimated value of the disturbance , , is an auxiliary variable, is a first-order derivative of , observer parameters , , , , and are all constants, and satisfy , , , , , , is an observer gain.

[0036] In one possible design, the expression of the non-singular fixed-time sliding mode surface is:

[0037] ,

[0038] wherein, and are rotor position error and speed error respectively, , and are tunable parameters and satisfy , , , is a switching function and has the expression

[0039] ,

[0040] and are coefficients, is a tunable parameter and satisfies , and are operator exponents and satisfy , is a parameter used to define the size of the neighborhood of the origin.

[0041] In one possible design, the expression of the fixed-time sliding mode controller is

[0042] ,

[0043] where is the first derivative of the nonsingular fixed-time sliding surface , is the desired motor rotor angular acceleration, is the first derivative of .

[0044] In one possible design, the expression of the motor control torque is

[0045] ,

[0046] where is a feedforward compensation term and has ;

[0047] is an error and disturbance compensation term and has ;

[0048] is a fixed-time sliding mode control term and has ;

[0049] where the controller parameters , , and satisfy , , and respectively.

[0050] The beneficial effects of this application are:

[0051] This application realizes "machine replacement of manpower," completely liberating power workers from the extremely dangerous working environment of working tens of meters high and under high-voltage electric fields, and completely avoiding personal injury accidents caused by falls from heights and electric shocks, resulting in significant social benefits. The robot in this application can operate around the clock, continuously, with installation efficiency expected to be more than 50% higher than traditional manual labor, and the work quality is standardized and unaffected by personnel fatigue or skill differences. It can significantly reduce reliance on special operations personnel, complex safety monitoring, and large-scale power outage plans, lowering labor and safety management costs. This application provides key equipment for realizing "intelligent operation and maintenance, and automated operation" of transmission lines, setting an industry benchmark. Its technological paradigm can be transferred to other conductor operation and maintenance operations such as spacer bar disassembly and replacement, vibration damper installation, and foreign object removal, showing broad prospects for expanded applications.

[0052] This application considers the system uncertainties caused by high-altitude wind loads and the nonlinearity of the robotic arm itself in the spacer bar installation robot. Taking its dynamic model as the control object, a control method based on a fixed-time disturbance observer and non-singular fixed-time sliding mode is designed. This method introduces fixed-time control theory. Compared with traditional finite-time control, the controller designed in this application can ensure that the convergence time of the system tracking error has an upper bound independent of the initial state of the system, meeting the requirements of rapid response and high efficiency in fully automated installation operations. The sliding surface of this application adopts a piecewise switching function, effectively avoiding the singularity problem caused by the negative exponential term in traditional terminal sliding mode control (i.e., the risk that the control quantity tends to infinity when the error is zero), ensuring the control safety and smoothness of the robotic arm in the entire working domain. To address the lumped disturbances caused by high-altitude wind loads and inaccurate model parameters, a fixed-time sliding mode disturbance observer is designed. This observer can not only estimate the disturbance quickly and accurately and offset the disturbance effect through feedforward compensation, but also has a fixed-time convergence, further improving the robustness and response speed of the entire closed-loop system. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the climbing mechanism;

[0054] Figure 2 This is a schematic diagram of the storage and transmission mechanism;

[0055] Figure 3 Schematic diagram of wheel tensioning mechanism;

[0056] Figure 4 This is a schematic diagram of the drive wheel mounting structure;

[0057] Figure 5 A schematic diagram of the spacer bars supporting the storage and transmission mechanism;

[0058] Figure 6 This is a schematic diagram of a scenario where spacers are conveyed to the installation mechanism.

[0059] Figure 7 This is a schematic diagram of the lifting mechanism;

[0060] Figure 8 This is a schematic diagram of the closing mechanism;

[0061] Figure 9 A diagram illustrating a sales organization;

[0062] Figure 10 A schematic diagram illustrating the installation of spacers;

[0063] Figure 11 A schematic diagram of the overall structure of a fully automated robot for installing double-split spacers;

[0064] Figure 12 The motor rotor angle tracking response curves of the control system under different controllers;

[0065] Figure 13 The diagram shows the motor rotor angle tracking error curves under different controllers in the control system.

[0066] Figure 14 This is a graph showing the change in control torque of the robot's motor.

[0067] 1. Motor base; 2. Track wheel coupling; 3. Wheel motor; 4. Flange shaft; 5. V-type track wheel; 6. Power transmission line; 7. Driven wheel; 8. Driven wheel shaft; 9. Driven flange bearing; 10. Tensioner wheel; 11. Rear side plate; 12. Tensioner wheel mounting plate; 13. Drive wheel; 14. Front side plate; 15. Tensioner wheel shaft; 16. Deep groove ball bearing; 17. U-shaped base; 18. Flat key; 19. Tensioner flange bearing 20. Bolt; 21. Nut seat; 22. Drive wheel motor; 23. Drive wheel motor seat; 24. Drive wheel coupling; 25. Stud; 26. Drive wheel shaft; 27. Drive flange bearing; 28. Spacer bar outer page; 29. ​​Spacer bar; 30. Storage and conveying mechanism; 31. Base plate; 32. Push mechanism; 33. Lifting mechanism; 34. Closing mechanism; 35. Placement plate; 36. Push block; 37. Self-locking pin. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0069] Specific implementation method one: Refer to Figures 1 to 11 This embodiment specifically describes the fully automated installation robot for double-split spacer bars of overhead power lines, which includes: a climbing mechanism, a storage and conveying mechanism, a sales mechanism, a lifting mechanism, and a closing mechanism integrated on the connecting frame.

[0070] The climbing mechanism is used to mount the robot body on the overhead power line via V-shaped wheels, and is able to move on the overhead power line;

[0071] The storage and conveying mechanism is used to carry and transport the spacer to the installation position via a tire structure;

[0072] The lifting mechanism is used to move the spacer to the installation height;

[0073] The closing mechanism is used to drive the outer pages of the spacer bar to close;

[0074] The pushing mechanism is used to push the self-locking pin of the outer page of the spacer to the locked position.

[0075] In one embodiment, the climbing mechanism includes: a V-shaped wheel, a flange shaft, a wheel motor, and a track wheel coupling;

[0076] The output shaft of the wheel motor is fixedly connected to the flange shaft via the track wheel coupling, and the V-shaped wheel is coaxially fitted outside the flange shaft, so that the wheel motor can drive the V-shaped wheel to rotate when it starts.

[0077] In one embodiment, the storage and conveying mechanism includes: a driving wheel, a tensioning wheel, and multiple driven wheels simultaneously connected by a synchronous belt; two side plates; a driving wheel motor; a base; a tensioning wheel mounting plate; and bolt and nut seats.

[0078] The tensioning wheel mounting plate and the nut seat are respectively fixed on two side plates. The tensioning wheel mounting plate has a slotted hole, and the base has a through hole. The axle of the tensioning wheel passes through the base and the tensioning wheel mounting plate in sequence. The axle of the tensioning wheel is fixed in the through hole by a tensioning flange bearing. The axle of the tensioning wheel is embedded in the slotted groove of the tensioning wheel mounting plate by a deep groove ball bearing, so that the tensioning wheel can move along the slotted groove. One end of the bolt passes through the threaded hole of the nut seat and is connected to the base. When the bolt is rotated, it can push the base to drive the axle to move along the slotted groove, thereby tensioning the synchronous belt.

[0079] The axles of the driving wheel and multiple driven wheels are clamped between the two side plates. The driving wheel and multiple driven wheels mesh with each other. The output shaft of the driving wheel motor is coaxially connected to the driving wheel through the driving wheel coupling, so that when the driving wheel motor starts, it can drive the driving wheel and multiple driven wheels to rotate, and then transmit torque through the synchronous belt.

[0080] In one embodiment, the sales mechanism includes: a sales block and a sales motor;

[0081] The pusher block is fixed to the moving end of the pusher motor. The pusher motor can drive the pusher block forward or backward, so that the pusher block can push the self-locking pin of the spacer to be installed to the locking position.

[0082] The lifting mechanism includes: a placement plate and a lead screw motor;

[0083] The placement plate is used to support the spacer bar to be installed; the placement plate is fixed to the moving end of the lead screw motor, and the lead screw motor can drive the placement plate to rise and fall.

[0084] The closing mechanism includes: a linear motor and a push rod;

[0085] The push rod is fixed to the moving end of the linear motor, and the linear motor can drive the push rod to push the outer page of the spacer to be installed to close.

[0086] To further illustrate the implementation scheme of this application, Figure 1 Of Figure 11 A fully automated robot for installing double-split spacers on overhead power lines was provided. The following is a detailed description of each unit:

[0087] A fully automated robot for installing double-split spacers on overhead transmission lines, including:

[0088] Climbing organization:

[0089] Based on the cylindrical shape of transmission line 6, V-shaped rubber wheels are considered for the climbing mechanism. These wheels ensure sufficient stability for the robot's movement on transmission line 6, preventing derailment and the robot from slipping off. Simultaneously, the rubber material provides insulation, effectively protecting the robot, and its high coefficient of friction enhances the robot's grip on transmission line 6. Specifically, see attached... Figure 1 As shown, the V-shaped track wheel 5 is bolted to the flange shaft 4. The flange shaft 4 and the wheel motor 3 are mounted on the motor base 1, and torque is transmitted through the track wheel coupling 2. The entire climbing mechanism is fixed to the robot. During the robot's operation, the robot can move on the power transmission line 6 by controlling the rotation of the wheel motor 3 to transmit torque.

[0090] Storage and transmission mechanism:

[0091] As attached Figure 2 As shown, the storage and conveying mechanism 30 includes four driven wheels 7, one driving wheel 13, and one tensioning wheel 10. The four driven wheels 7 are located at the top and are mounted on the driven wheel shaft 8 via a key drive. The driven wheel shaft 8 is mounted between the front side plate 14 and the rear side plate 11 via a driven flange bearing 9. The installation of the tensioning wheel 10 is shown in the attached figure. Figure 3 As shown, the tension wheel 10 is mounted on the tension wheel shaft 15 via a key drive. The tension wheel shaft 15 is mounted on the U-shaped base 17 via a tension flange bearing 19. Simultaneously, the tension wheel shaft 15 contacts the tension wheel mounting plate 12 via a deep groove ball bearing 16, ensuring that the tension wheel 10 and tension wheel shaft 15 can only move within the groove of the tension wheel mounting plate 12. The U-shaped base 17 is connected to bolts 20, which are mounted on a nut seat 21, which is clamped by the front side plate 14 and the rear side plate 11. The installation of the drive wheel 13 is shown in the attached figure. Figure 4 As shown, the drive wheel 13 is mounted on the drive wheel shaft 26 via a key drive. The drive wheel shaft 26 is mounted between the front side plate 14 and the rear side plate 11 via a drive flange bearing 27. Simultaneously, the drive wheel motor 22 is bolted to the drive wheel motor mount 23, which is in turn mounted on the front side plate 14 via studs 25. The drive wheel motor 22 transmits torque through the drive wheel coupling 24, thereby enabling the rotation of the drive wheel 13. Torque is transmitted between the various wheels via a timing belt. After installing the timing belt, bolts 20 must be tightened to tension the belt and prevent it from loosening during operation. (See attached diagram) Figure 5 As shown, the spacer bars 29 are placed side by side on the synchronous belt of the storage and conveying mechanism 30. The storage and conveying mechanism 30 is installed and fixed on the base plate 31 by bolts. The spacer bars 29 can be conveyed by rotating the drive wheel motor 22.

[0092] Installation organization:

[0093] like Figure 6 The diagram shows the scene where spacer 29 is conveyed to the installation mechanism. The installation mechanism mainly consists of three sub-mechanisms: a pushing mechanism 32, a lifting mechanism 33, and a closing mechanism 34. Each sub-mechanism is shown in the attached diagram. Figure 7 , 8 As shown in Figure 9. Specifically, as... Figure 10 As shown, the lifting mechanism 33 drives the placement plate 35 to move up and down via a lead screw motor, thereby raising and lowering the spacer 29. This allows the spacer 29 to descend from a position higher than the transmission line 6 until it is stably placed on the transmission line 6. At this point, the push rod with a linear motor on the closing mechanism 34 pushes the outer page 28 of the spacer, closing the spacer 29. After the spacer 29 is closed, the pushing mechanism 32's pushing motor rotates, causing the pushing block 36 to push the self-locking pin 37 of the spacer 29. When the pushing block 36 contacts the self-locking pin 37 and moves forward, the outer page 28 of the spacer is completely locked, thus completing the installation of the spacer 29.

[0094] In practical applications, multiple spacer bars 29 are placed side-by-side on the synchronous belt of the storage and conveying mechanism, and self-locking pins 37 are fixed to the spacer bars 29. Then, V-shaped track wheels 5 are installed on the transmission line 6, ensuring good contact between each V-shaped track wheel 5 and the transmission line 6. By controlling the rotation of the drive wheel motor 22, the drive wheel 13 is driven to rotate, causing the synchronous belt to rotate, which in turn causes the spacer bars 29 on the synchronous belt to move smoothly towards the installation mechanism until the spacer bars 29 are smoothly conveyed onto the placement plate 35. The lead screw motor in the lifting mechanism 33 drives the placement plate 35 to descend, causing the spacer bars 29 to descend smoothly until they are in contact with the transmission line 6. The linear motor push rod of the closing mechanism 34 is controlled to advance until it contacts the outer page 28 of the spacer bar, and continues to advance until the outer page 28 of the spacer bar is closed. Finally, the pusher motor of the pushing mechanism 32 is controlled to rotate, causing its pusher block 36 to advance forward, contact the self-locking pin 37, and continue to advance until the self-locking pin 37 is fully inserted, thus completing the installation of the double-split spacer bars 29.

[0095] Specific Implementation Method Two: The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines described in this implementation method includes:

[0096] Establish a robot dynamics model;

[0097] A fixed-time sliding mode disturbance observer is established based on the robot dynamics model.

[0098] Design a non-singular fixed-time sliding mode surface based on the aforementioned fixed-time sliding mode perturbation observer;

[0099] The non-singular fixed-time sliding mode surface is used to construct a fixed-time sliding mode controller for the fully automatic installation robot of the double-split spacer bar of the overhead transmission line, thereby realizing the control of the fully automatic installation robot of the double-split spacer bar of the overhead transmission line.

[0100] In one implementation, the expression for the robot dynamics model is:

[0101] ,

[0102] in, , and These are the rotor angular position vector, rotor angular velocity vector, and rotor angular acceleration vector of the motors at each joint of the robot, respectively. The inertia matrix, Here is the centripetal force matrix. For gravity, For motor control torque, This refers to the external disturbance torque.

[0103] In one implementation, the expression for the fixed-time sliding mode perturbation observer is:

[0104] ,

[0105] in, For disturbance The estimated value, , As an auxiliary variable, for First derivative, observer parameters , , , , and All are constants and satisfy the following conditions: , , , , , , This is the observer gain.

[0106] In one embodiment, the non-singular fixed-time sliding surface The expression is:

[0107] ,

[0108] in, and These are rotor position error and speed error, respectively. , and All parameters are adjustable and satisfy the following conditions: , , , Let be a switching function, and let its expression be:

[0109] ,

[0110] and All are coefficients. The parameter is adjustable and satisfies , and All are operator exponents and satisfy , This is a parameter used to define the size of the neighborhood of the origin.

[0111] In one embodiment, the expression for the fixed-time sliding mode controller is:

[0112] ,

[0113] in, Non-singular fixed-time sliding surface The first derivative, For the desired angular acceleration of the motor rotor, for The first derivative.

[0114] In one embodiment, the motor control torque The expression is:

[0115] ,

[0116] in, It is a feedforward compensation term, and has ;

[0117] For error and disturbance compensation terms, and have ;

[0118] It is a fixed-time sliding mode control term, and has ;

[0119] Among them, controller parameters , , and Each satisfies , , and .

[0120] To further illustrate the embodiments of this application, a control method for a fully automated robot for installing double-split spacers in overhead transmission lines is provided. The steps are described in detail below:

[0121] Step 1: Establish the robot dynamics model

[0122] The dynamic model of the fully automated robot for installing double-split spacers is as follows:

[0123] (1),

[0124] in, Let be the angular position vectors of the motor rotors at each joint of the robot. , Represents the real number field; The angular velocity vectors of the motor rotors at each joint of the robot. ; Let be the angular acceleration vector of the motor rotor at each joint of the robot. ; For motor control torque, ; For external disturbance torque, ; Here is the centripetal force matrix. ; For gravity, ; The inertia matrix, .

[0125] It is the nominal part of the inertia matrix, according to Due to the non-singularity of the robot's dynamics model, it can be re-expressed as follows:

[0126] (2).

[0127] Define the disturbance as Tracking error is defined as , , For the desired motor rotor position, , For the desired motor rotor angular velocity, Then the error system can be derived as:

[0128] (3),

[0129] Step 2: Design a fixed-time sliding mode perturbation observer

[0130] Define auxiliary variables ,in, yes The estimated value, whose update law is:

[0131] (4),

[0132] in, , , , , and All are observer gains; For disturbance The estimated value.

[0133] The disturbance observer is:

[0134] (5),

[0135] in, Auxiliary variables; observer parameters , , , , and All are constants and satisfy the following conditions: , , , , , .

[0136] Step 3: Design a non-singular fixed-time sliding surface

[0137] Define a non-singular fixed-time sliding surface for:

[0138] (6),

[0139] in, , and All parameters are adjustable, and have , , ;

[0140] Operator: ;

[0141] It is a switching function designed to prevent singularity, and its specific form is:

[0142] (7),

[0143] in, Adjustable parameters and ; This is a parameter used to define the size of the neighborhood of the origin. ;coefficient and It is calculated using the continuity condition that... exist The smooth transition has the following features: , .

[0144] Step 4: Fixed-time sliding mode control design for fully automated installation robot of double-split spacer bars

[0145] For sliding surfaces Differentiation yields:

[0146] (8).

[0147] After incorporating the dynamic model of the fully automated robot for installing double-split spacers, the following results were obtained:

[0148] (9),

[0149] This represents the desired angular acceleration of the motor rotor.

[0150] The control law is composed of three parts, and its expression is:

[0151] (10)

[0152] This is a feedforward compensation term used to counteract the known nonlinear dynamics of the system:

[0153] (11),

[0154] This is the error and disturbance compensation term, used for compensation based on the dynamics of the sliding surface and the observed disturbance values:

[0155] (12),

[0156] This is a fixed-time sliding mode control term used to ensure that the system state converges within a fixed time period.

[0157] (13)

[0158] in, , , and These are all controller parameters.

[0159] To further verify the effectiveness and superiority of the fully automated installation robot and its control method for double-split spacers of overhead transmission lines proposed in this application, this embodiment builds a dynamic model and control system of the fully automated installation robot in a simulation environment and tests it under typical working conditions in high-altitude operations.

[0160] (1) Simulation model and parameter settings

[0161] Considering the practical characteristics of overhead power line spacer installation operations, this embodiment selects a representative two-degree-of-freedom robotic arm as the controlled object for verification. This robotic arm model can reflect the nonlinear coupling characteristics of multi-joint systems.

[0162] The physical parameters of the robotic arm are set as follows: Mass of the link of joint 1 Set as standard value, link length Distance from the center of mass All dimensions are set according to the actual prototype size ratio; the mass of the connecting rod of joint 2 Link length and centroid distance Similarly, consider the inertia tensor. and Estimated based on the geometry of the connecting rod. Gravitational acceleration. Pick .

[0163] To simulate the complex disturbances in high-altitude working environments, a composite disturbance signal containing both constant and time-varying components was introduced into the simulation. External disturbances It was designed to incorporate sinusoidal oscillations to simulate the periodic impact torque generated by high-altitude gusts on the robotic arm joints; at the same time, random white noise was introduced into the dynamic model to simulate sensor measurement noise and unmodeled high-frequency vibrations within the system.

[0164] (2) Controller parameter selection

[0165] Based on the control law design process proposed in this application, the parameters were tuned. First, for non-singular fixed-time sliding surfaces... Select parameters and The exponent is a positive real number to ensure the convergence rate of the error state during the sliding phase; and Set to a constant greater than 1 to enhance convergence speed when far from the equilibrium point. Switch function. Parameters in Selected as Values ​​within an open interval, parameters and The smooth continuity condition formula is used to calculate and ensure the non-singularity of the sliding surface in the entire state space. Secondly, for the fixed-time sliding mode perturbation observer, the observer gain is selected as an appropriate positive number, and the power parameter strictly satisfies the fixed-time stability constraint to ensure rapid convergence of the observation error. Finally, in the reaching law control term, [the following is selected...] , As the gain that regulates the approach velocity of the system, the exponential and This is used to ensure that the system state reaches the sliding surface within a fixed time.

[0166] (3) Simulation results and analysis

[0167] Within a set simulation time, the robotic arm's joints are controlled to track a given desired sinusoidal trajectory, which simulates the reciprocating motion of the robot during the grasping and installation of spacers. The performance of the proposed control strategy is qualitatively analyzed by comparing the simulation results:

[0168] like Figure 12 The figure shows the joint position tracking curve of the robotic arm. As can be seen from the figure, at the initial moment, there is a certain initial deviation between the actual position of the robotic arm and the desired trajectory. Under the control of the controller, the actual joint angle curve can quickly approach and coincide with the desired trajectory curve. Throughout the entire motion cycle, even with simulated wind load disturbances, the actual trajectory always closely follows the desired trajectory without significant deviation or divergence, indicating that the control method has excellent trajectory tracking capability.

[0169] like Figure 13 As shown, the curves illustrating the change in the robotic arm joint position tracking error over time are presented. The results show that the system error decreases rapidly after a brief transition and converges stably to a minimal neighborhood near zero. Notably, the error convergence process is smooth, the overshoot is minimal, and the convergence speed meets the expected characteristics of fixed-time control; that is, the system can eliminate the influence of the initial error within a predetermined time range, satisfying the stringent cycle time requirements of fully automated installation operations.

[0170] like Figure 14 As shown, the changes in control torque input at each joint of the robotic arm are recorded. The curves indicate that the control torque remains within a reasonable amplitude range that the actuator can withstand throughout the entire operation. In particular, thanks to the non-singular switching function designed in this invention, the control input signal is continuous and smooth, effectively avoiding the singular spike phenomenon commonly found in traditional terminal sliding mode control, and also significantly suppressing the inherent "chattering" effect of sliding mode control. This is of great significance for extending the service life of the robot's joint motors and reducers.

[0171] While specific embodiments of this application have been described herein with reference to them, it should be understood that these embodiments are merely examples of the principles and applications of this application. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of this application as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A fully automated robot for installing double-split spacer bars on overhead power lines, characterized in that, include: The climbing mechanism, storage and conveying mechanism, sales mechanism, lifting mechanism and closing mechanism are integrated on the connecting frame; The climbing mechanism is used to mount the robot body on the overhead power line via V-shaped wheels, and is able to move on the overhead power line; The storage and conveying mechanism is used to carry and transport the spacer to the installation position via a tire structure; The lifting mechanism is used to move the spacer to the installation height; The closing mechanism is used to drive the outer pages of the spacer bar to close; The pushing mechanism is used to push the self-locking pin of the outer page of the spacer to the locked position.

2. The fully automated installation robot for double-split spacer bars of overhead transmission lines according to claim 1, characterized in that, The climbing mechanism includes: a V-shaped wheel, a flange shaft, a wheel motor, and a track wheel coupling; The output shaft of the wheel motor is fixedly connected to the flange shaft via the track wheel coupling, and the V-shaped wheel is coaxially fitted outside the flange shaft, so that the wheel motor can drive the V-shaped wheel to rotate when it starts.

3. The fully automated installation robot for double-split spacer bars of overhead transmission lines according to claim 1, characterized in that, The storage and conveying mechanism includes: a drive wheel, a tension wheel, and multiple driven wheels that are simultaneously connected by a synchronous belt; two side plates; a drive wheel motor; a base; a tension wheel mounting plate; and bolt and nut seats. The tensioning wheel mounting plate and the nut seat are respectively fixed on two side plates. The tensioning wheel mounting plate has a slotted hole, and the base has a through hole. The axle of the tensioning wheel passes through the base and the tensioning wheel mounting plate in sequence. The axle of the tensioning wheel is fixed in the through hole by a tensioning flange bearing. The axle of the tensioning wheel is embedded in the slotted groove of the tensioning wheel mounting plate by a deep groove ball bearing, so that the tensioning wheel can move along the slotted groove. One end of the bolt passes through the threaded hole of the nut seat and is connected to the base. When the bolt is rotated, it can push the base to drive the axle to move along the slotted groove, thereby tensioning the synchronous belt. The axles of the driving wheel and multiple driven wheels are clamped between the two side plates. The driving wheel and multiple driven wheels mesh with each other. The output shaft of the driving wheel motor is coaxially connected to the driving wheel through the driving wheel coupling, so that when the driving wheel motor starts, it can drive the driving wheel and multiple driven wheels to rotate, and then transmit torque through the synchronous belt.

4. The fully automated installation robot for double-split spacer bars of overhead transmission lines according to claim 1, characterized in that, The sales organization includes: a sales block and a sales motor; The pusher block is fixed to the moving end of the pusher motor. The pusher motor can drive the pusher block forward or backward, so that the pusher block can push the self-locking pin of the spacer to be installed to the locking position. The lifting mechanism includes: a placement plate and a lead screw motor; The placement plate is used to support the spacer bar to be installed; the placement plate is fixed to the moving end of the lead screw motor, and the lead screw motor can drive the placement plate to rise and fall. The closing mechanism includes: a linear motor and a push rod; The push rod is fixed to the moving end of the linear motor, and the linear motor can drive the push rod to push the outer page of the spacer to be installed to close.

5. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to any one of claims 1 to 4, characterized in that, include: Establish a robot dynamics model; A fixed-time sliding mode disturbance observer is established based on the robot dynamics model. Design a non-singular fixed-time sliding mode surface based on the aforementioned fixed-time sliding mode perturbation observer; The non-singular fixed-time sliding mode surface is used to construct a fixed-time sliding mode controller for the fully automatic installation robot of the double-split spacer bar of the overhead transmission line, thereby realizing the control of the fully automatic installation robot of the double-split spacer bar of the overhead transmission line.

6. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to claim 5, characterized in that, The expression for the robot dynamics model is: ， in, , and These are the rotor angular position vector, rotor angular velocity vector, and rotor angular acceleration vector of the motors at each joint of the robot, respectively. The inertia matrix, Here is the centripetal force matrix. For gravity, For motor control torque, This refers to the external disturbance torque.

7. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to claim 6, characterized in that, The expression for the fixed-time sliding mode perturbation observer is: ， in, For disturbance The estimated value, , As an auxiliary variable, for First derivative, observer parameters , , , , and All are constants and satisfy the following conditions: , , , , , , This is the observer gain.

8. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to claim 7, characterized in that, The non-singular fixed-time sliding surface The expression is: ， in, and These are rotor position error and speed error, respectively. , and All parameters are adjustable and satisfy the following conditions: , , , Let be a switching function, and let its expression be: ， and All are coefficients. The parameter is adjustable and satisfies , and All are operator exponents and satisfy , This is a parameter used to define the size of the neighborhood of the origin.

9. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to claim 8, characterized in that, The expression for the fixed-time sliding mode controller is: ， in, Non-singular fixed-time sliding surface The first derivative, For the desired angular acceleration of the motor rotor, for The first derivative.

10. The control method for the fully automated installation robot of double-split spacer bars for overhead transmission lines according to claim 9, characterized in that, The motor control torque The expression is: ， in, It is a feedforward compensation term, and has ; For error and disturbance compensation terms, and have ; It is a fixed-time sliding mode control term, and has ; Among them, controller parameters , , and Each satisfies , , and .

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