基于模糊PID的电力巡检机器人路径纠偏

Power Detecting Robot Path Correction Based on Fuzzy PID Algorithm

随着电力系统自动化水平的不断提高,越来越多的巡检机器人被应用到变电站。根据近些年变电站巡检机器人在实际工作中的情况分析,在快速运行状态下的路径纠偏问题成为了制约机器人运行精度和工作效率提高的关键问题。本文针对此问题,以磁导引电力巡检机器人为例,结合机器人运动规律和磁导航传感器的特点,提出了一种参数自整定模糊PID路径纠偏算法,并通过Simlink仿真验证了其可行性,并在太原东山一号变电站项目中进行了实际应用,经过近一年的运行,提高了运行效率和检测精度,也达到了预期效果。

With the continuous improvement of the automation level of power systems,more and more inspection robots are applied to substations.According to the analysis of the substation inspection robot in actual work in recent years,the path correction problem in the fast running state has become a key problem that restricts the robot's running accuracy and work efficiency.In this paper,a magnetic guided power inspection robot is taken as an example.Combined with the characteristics of robot motion and magnetic navigation sensor,a parameter self-tuning fuzzy PID path correction algorithm is proposed.The feasibility of this method is verified by Simlink simulation.It has been applied in the Taiyuan Dongshan No.1 substation project.After nearly one year of operation,the operation efficiency and detection accuracy have been improved,and the expected results have been achieved.