高压巡检机器人行走轮打滑识别与模糊控制

Slippage identification and fuzzy control for driving wheels of inspection robots along high-voltage transmission lines

针对轮式驱动的巡检机器人行走轮容易打滑的问题,通过分析巡检机器人在线作业时行走轮的受力情况及运动状态,利用压紧轮与行走轮的运动关系及相关运动学原理,建立了行走轮打滑辨识的数学模型;研究了打滑度问题,分析了控制打滑所需压紧力增量与打滑度及线路坡度的定性关系,利用这种关系设计了一个打滑模糊控制器.实验表明,打滑识别方法正确有效;打滑模糊控制器能有效抑制打滑的发生,提高了机器人巡检效率.

Aiming at slippage of the wheels of the high-voltage inspection robot, by analyzing the stress and motion of the walking wheels, and making use of the kinematic relation between the pressing wheel and walking wheel and related kinematic principles, a mathematical model of slippage identification of walking wheel is established. The issues of slippage degree have been studied. The qualitative relationship of the pressing force increment that needed for controlling slippage and the slippage degree increments and the qualitative relationship with the line slope have been analyzed. Based on these relationships, the fuzzy con- troller has been designed. Experimental results show that slippage identification method is correct and ef- fective; and the slippage fuzzy controller can effectively restrain the occurrence of slippage and improve the efficiency of the robot inspection.