变电站水冲洗机器人运动控制研究

Research on the motion control of water washing robot in substation

为保障变电站电力能源的持续供应,进一步提高水冲洗机器人的自动化水平与作业效率,该文通过分析水冲洗机器人机械臂关节角度与目标绝缘子位置的运动学关系,并利用改进的D-H方法建立了水冲洗机器人数学模型,提出一种将基于位置的视觉控制方法与模糊自适应PID控制算法相结合的运动控制策略,采用双目视觉定位的方式获取目标绝缘子的位置,形成双闭环的视觉伺服系统,最终通过Simulink实现了水冲洗机器人运动控制的建模仿真实验。仿真结果证明,采用该文提出的控制策略能有效完成对绝缘子的自动瞄准与冲洗,并具有良好的控制效果。

In order to ensure the continuous supply of power energy of electricity substation power equipment and further improve the automation level and operational efficiency of the water washing robot,this paper firstly analyzes the kinematic relationship between the joint angle of the water washing robot arm and the target insulator position,and establishes the mathematical model of the water washing robot by the improved D-H method,and propose a motion control strategy that combines the position-based vision control method with the fuzzy adaptive PID control algorithm,followed by a binocular visual positioning approach to obtain the target insulator position to form a dual closed-loop visual servo system,and finally a modeling simulation experiment of the motion control of the water washing robot is realized by Simulink.The simulation results prove that the control strategy proposed in this paper can effectively complete the automatic targeting and flushing of insulators with good control effect.