架空地线巡检机器人多电机同步控制策略

Multi-motor Synchronous Control Strategy for Overhead Ground Wire Inspection Robot

采用机器人巡检地线是电力巡检一种十分重要且实用的方式。由于线路及地形的复杂性对地线巡检机器人运行带来很多不确定的外部干扰。这些问题会造成巡检机器人行进电机运行速度不匹配,进而导致地线巡检机器人发生故障。针对三臂式地线巡检机器人运行时主电机需要保持同步运行的问题,以地线巡检机器人三臂的3台主驱动电机作为控制对象,设计了一种RBF-PID控制器。结合电机控制系统的非线性、时变、容易受到负载的扰动等特性,将神经网络与偏差耦合的控制结构相结合提出了一种多电机同步控制策略。通过Simulink仿真平台进行仿真,与传统的控制方法相比,鲁棒性好,收敛速度快,能够有效地克服扰动带来的误差,实现多电机同步控制,并应用于输电线路自主巡线机器人的实际运行中。

Robot ground wire inspection is a very important and practical way of electric power inspection. Because of the complexity of the line and terrain,there are many uncertain external disturbances to the operation of the ground wire inspection robot,which leads to the mismatching of the moving motor speed of the inspection robot and then to the fault of the ground wire inspection robot. Based on the fact that the main motor of the three-arm ground wire inspection robot needs to operate synchronously,an RBF-PID controller is designed with three main drive motors of three arms as the control object. Given the characteristics of the motor control system such as nonlinearity,time-varying and load disturbance by load,a multi-motor synchronous control strategy is proposed by combining the neural network with the control structure of bias coupling. Through simulation in Simulink platform, the proposed method,compared with the traditional control method,has better robustness,faster convergence speed,and can effectively overcome the error caused by disturbance and realize multi-motor synchronous control,and can be applied to the operation of transmission line autonomous inspection robot.