输电线路异物清除空中机器人飞行控制技术研究

Research on the aerial robot flight control technology for transmission line obstacle clearance

针对人工清理输电线路上的异物效率低且存在较大风险的问题,本文提出了一种用于输电线路清理的空中机器人,该空中机器人通过悬挂作业工具实现线路异物清理。本文针对输电线路异物清理空中机器人建立了其携带负载时的运动学和动力学模型;针对空中机器人携带负载后带来的重心变化、接触作业时的接触力与参数摄动等问题,研究了线性自抗扰控制方法。对空中机器人进行了仿真实验,验证了本文提出的空中机器人的可行性和线性自抗扰控制方法在空中机器人上具有较好的控制效果和抗干扰能力。

Obstacles on the transmission line seriously affect the safety of the line,and manual cleanup is inefficient and there is a greater risk.In view of the above problems,we propose an aerial robot for transmission line cleaning,which cleans foreign matters on the line by hanging working tools.The kinematics and dynamics models of the aerial robot for cleaning foreign matters on transmission lines are established when it carries load.Then,the linear self-disturbance control(LADRC)method is studied for the change of center of gravity and the contact force and parameter uptake during the contact operation after the aerial robot carries load.The simulation experiments are conducted on the aerial robot to verify feasibility of the aerial robot proposed in this paper,proving its better control effect and anti-disturbance capability on the aerial robot.