高压带电作业机器人升降系统振动分析及控制补偿策略

Vibrations Analysis for the Risen System of Hot Line Robot and Compensatory strategy

介绍了高压带电作业机器人的结构和工作原理 ;建立了高压带电机器人升降系统的非线性动力学模型 ,用非线性动力学理论对上述模型进行理论分析 ,求出其二阶非线性近似解 ,对系统的运动稳定性进行了研究 ,得出升降平台在受导线交变作用力时在水平平面的轨迹 ;最后给出了控制补偿策略。

The working theory and structure of Hot Line Robot is introduced and a non-linearity dynamics model for its risen system is built.Based on non-linearity dynamics theory we analyze the model and get its approximation .The track of the flat roof in x-y plane is obtained when a changing force is applied to the plane. According to the vibrations we give a strategy to compensate it.