巡线机器人无动力下坡速度控制方法  

Speed control method of unpowered downhill for high voltage transmission line inspection robot

作　　者：胡健[1] 吴功平[1] 王伟[1] 杨守东[2] 刘明[2] 杨智勇[1] 何缘[1] 郭磊[1] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]国网吉林省电力有限公司白山供电公司,吉林白山134300

出　　处：《浙江大学学报（工学版）》2015年第10期1878-1884,共7页Journal of Zhejiang University：Engineering Science

基　　金：国家"863"高技术研究发展计划资助项目(2005AA42006-1);国家自然科学基金资助项目(51105281)

摘　　要：为了提高高压输电线路巡线机器人续航能力以及降低能量消耗,结合能耗制动与脉宽调制方法,提出巡线机器人无动力下坡控速方法.该方法通过调节能耗电路通断占空比来定量调节能耗电阻消耗功率,实现下坡过程中的速度控制.设计基于线路模型的无动力下坡条件判断策略,采用变论域模糊控制方法实现速度的准确控制,使得机器人在巡检过程中全自主运行.在室外模拟线路和实际输电线路中进行试验验证.结果表明,采用该方法能够有效地控制机器人无动力下坡运行,可以节省12%的能量消耗.A speed control method of unpowered downhill was proposed combined with energy-consumed braking method and pulse width method（PWM）in order to improve endurance ability and reduce energy consumption of inspection robot.Downhill speed was controlled by adjusting the duty cycle of energyconsumed circuit so as to change the energy consumption.A condition judgment strategy based on model of overhead ground wire was proposed,and a variable universe fuzzy controller was used to control speed in real time.Experiments were conducted to verify the effectiveness of the above conclusions in both laboratory and real inspection environment.Results show that the proposed method can effectively control the robot unpowered downhill and save energy consumption.

关 键 词：高压输电线路 巡线机器人 能耗控速 模糊控制 

分 类 号：TH39[机械工程—机械制造及自动化] TM331[电气工程—电机]