高压输电线软体巡检机器人磁致动机制及PI滑模控制研究

Research on Magnetic Actuation Mechanism and PI Sliding Mode Control of Soft Inspection Robot for High Voltage Transmission Line

为解决高压输电线刚性悬臂巡检机器人尺寸大、笨重、越障不灵活、效率低等问题,设计一种高压磁致动软体巡检机器人,利用载流线圈在高压直流环形磁场中受到的安培力驱动软体机器人以柔顺和蠕动方式高效灵活地跨越多种障碍物。对该机器人进行本体构型设计并分析其工作姿态,实现稳定巡检功能;对磁致动驱动器进行理论设计和分析,利用Comsol仿真软件对其所需驱动力进行仿真,验证理论的可实行性;通过拉格朗日法对高压磁致动软体巡检机器人进行动力学建模,构建系统动力学方程,获取机器人的关节角度、速度、加速度之间的关系;最后,通过MATLAB利用基于PI滑模控制法对简化后的高压磁致动软体巡检机器人动力学模型实行速度和角速度高精度追踪仿真。仿真结果表明:在滑模控制下,角度在1.5 s追踪上理想信号,角速度在0.3 s后追上理想信号,证明基于PI的滑模控制器能够实现对高压磁致动软体巡检机器人的有效控制。

In order to solve the problems of large size,bulky weight,inflexibility in crossing obstacles and low efficiency of rigid cantilever inspection robot for high voltage transmission line,a high voltage magnetic-actuated soft inspection robot was designed.The amperage force of the current carrying coil in the high voltage DC ring magnetic field was used to drive the soft robot to cross multiple obstacles efficiently and flexibly in a supple and creeping manner.The body configuration of the robot was designed and its working posture was analyzed to achieve a stable inspection function.The theoretical design and analysis of the magnetically actuated drive was carried out and the required drive force was simulated using Comsol simulation software to verify the theoretical implementation.Then,the dynamics model of the high voltage magnetic-actuated soft inspection robot was made by the Lagrangian method,the system dynamics equations were constructed to obtain the relationship between the joint angle,velocity and acceleration of the robot.Finally,by using the PI sliding mode control method in MATLAB,the simplified dynamic model of the high voltage magnetic-actuated soft inspection robot was simulated with high precision in velocity and angular velocity tracking.The simulation results indicate that the angle tracks the ideal signal within 1.5 s and the angular velocity catches up with the ideal signal after 0.3 s under sliding mode control,proving that a sliding mode controller based on PI can effectively control the high voltage magnetic-actuated soft inspection robot.