电网机械臂分离电缆绝缘层的剥离控制研究

Study on Peeling Control of Cable Insulation Layer Separated by Power Grid Manipulator

针对电网机械手的末端分离器剥离电缆绝缘层易损坏线芯的问题,提出了一种适用于分离器的基于递推最小二乘法的剥离力跟踪控制算法。将电网机械手的末端分离器与电缆的分离过程等效为二阶动态关系,在此基础上引入递推最小二乘法实现剥离控制算法的改进,实现了电缆绝缘层和电缆芯刚度的在线辨识,能够对剥离力进行精准跟踪。为了验证所提算法的有效性和可行性,在Simulink环境下仿真对比剥离力跟踪控制算法,并进行了电缆剥离实验。结果表明,与传统剥离控制方法相比,所提方法在环境突变的状况下仍具有稳定的剥离力跟踪性能,且能有效减少剥离过程中的线芯损坏现象。

Aiming at the problem that the cable insulation layer is easy to be damaged by the end separator of the power grid manipulator,a stripping force tracking control algorithm based on recursive least square method for the separator is proposed.The separation process of the end separator of the power grid manipulator and the cable is equivalent to a second-order dynamic relationship.On this basis,the recursive least square method is introduced to improve the stripping control algorithm,realize the online identification of the cable insulation and cable core stiffness,and accurately track the stripping force.In order to verify the effectiveness and feasibility of the proposed algorithm,the stripping force tracking control algorithm is simulated and compared in Simulink environment,and the cable stripping experiment is carried out.The results show that compared with the traditional stripping control method,the proposed method still has stable stripping force tracking performance under the condition of sudden environmental change,and can effectively reduce the core damage in the stripping process.