带电清扫机器人液压自动调平收敛性研究

Research on the Convergence of Hydraulic Automatic Levelling System for High-voltage Cleaning Robot

针对带电清扫机器人作业过程中对平台水平度的要求,以及液压调平系统收敛性难以保证的现状,在对平台模型的建立、运动耦合和支腿速度特性进行研究的基础上,提出了一种确保系统收敛性的控制方法。实验结果表明该方法能够确保液压自动调平系统的收敛性,而且调平精度高、速度快。

High--voltage cleaning robot needs a horizontal platform, but it is hard to ensure the convergence of a hydraulic automatic levelling system. Thus,this paper analysed the three key problems： platform modelling, movement coupling, characteristics of the leg＇s velocity. And then, this paper designed a control algorithm to solve the convergence problem. According to the results of experiments, the algorithm can ensure the convergence and keep the high precision and speed.