摘要
带电检修履带式移动机器人用于实现对隔离断路器的带电检修。设计了一种基于检测光栅的移动平台导航系统,并对检测光栅测量误差进行分析。然后建立了移动平台导航过程数学模型,并基于Backstepping算法设计其导航控制算法。最后采用Recur Dyn、MATLAB/Simulink对导航过程进行联合仿真。通过移动平台在凹凸不平路面上的相关仿真,得出相应的结论,并对实际带电检修导航过程提出相关要求。
Live-line maintenance tracked mobile robot is used to realize live-line maintenance on a disconnecting circuit breaker. In this paper, the mobile platform navagation system based on measuring light curtains is designed, as well as the analysis of the detection error of these curtains. Then mathematical modeling for the process of mobile platform navagation is implemented, and the control algorithm based on Baekstepping is proposed. At last, ReeurDyn ＆ MATLAB/Simulink co-simulation is accomplished on the uneven road, conclusion is reached as well as the raise of requirements for the mobile platform navigation circumstance.
出处
《机械设计与研究》
CSCD
北大核心
2017年第3期26-29,34,共5页
Machine Design And Research
基金
国家电网公司科学技术项目:<新一代智能变电站隔离断路器带电检修机器人研制>
关键词
带电检修履带式移动机器人
检测光栅
导航
凹凸不平路面
live-line maintenance tracked mobile robot
measuring light curtain
navigation
uneven road
