高压输电线路巡检机器人速度控制研究

Research on Speed Control of Inspection Robots Along High-Voltage Transmission Lines

为确保高压输电线路巡检机器人在无电下坡时的安全运行,并延长其充电后的续航时间,文章提出模糊PID控制的巡检机器人行走轮电机下坡节能调速方法,结合架空导线的参数方程和架空输电线路的结构特点,分析巡检机器人车轮的驱动力矩与沿输电地线下降前后的水平位移之间的关系,从而实现对检测机器人后行走轮的节能速度控制。仿真结果表明,模糊PID控制能更好地调节机器人在不同坡度条件下的速度,且在能量回收效率方面效果较好。

In order to ensure the safe operation of the high-voltage transmission line inspection robot in the absence of electricity downhill,and to extend its range time after charging,this paper proposes the fuzzy PID control of the inspection robot walking wheel motor downhill energy-saving speed regulation method.This paper combines the parametric equations of overhead conductors and the structural characteristics of overhead transmission lines to analyze the relationship between the driving torque of the inspection robot's wheel and the horizontal displacement before and after descending along the transmission ground line,so as to realize the energy-saving speed control of the inspection robot's rear walking wheel.Simulation results show fuzzy PID control can better regulate the speed of the robot under different slope conditions.And the fuzzy PID control is good in terms of energy recovery efficiency.