输电线路带电巡检作业单臂机器人行走姿态控制方法  

Walking posture control method of transmission line single arm inspection robot

作　　者：严宇[1] 刘夏清[1] 邹德华[1] 章健军[1] 郭昊[1] 吴功平[2] 

机构地区：[1]国家电网湖南省电力公司带电作业中心,湖南长沙410100 [2]武汉大学动力与机械学院,湖北武汉430072

出　　处：《电力科学与技术学报》2016年第2期115-120,共6页Journal of Electric Power Science And Technology

基　　金：湖南省工业支撑计划(2014GK2015)

摘　　要：针对输电线路单臂巡检机器人的行走姿态难以有效控制的问题,该文将机器人行走分成常态行走与爬坡行走2个状态,并给出相应的定义,分别采用基于状态变量反馈的状态空间法与PD控制法对2种状态进行控制,利用Matlab对2种控制方法进行仿真,在搭建的实际线路上对所提出的2种控制方法进行方法验证。结果表明,提出基于状态空间法与PD控制法的输电线路带电巡检作业单臂机器人行走姿势控制迅速有效,可以满足实际应用需求。Becasue of the problem that the transmission line single arm inspection robot is difficult accurate controlled,the robot was divided into two states,containing normal walking and climb-ing walking,and the respective definition was given.The two states were controlled by the state space method based on state variable feedback and PD control method respectively,and two kinds of control methods were simulated by using Matlab simulation.In the end,the proposed two con-trol methods were validated in the actual circuit structures.The experimental results showed that the proposed control method was rapid and effective,and could meet the needs of practical appli-cation.

关 键 词：输电线路 单臂巡检机器人 姿态控制 

分 类 号：TM755[电气工程—电力系统及自动化] TM81