架空输电线巡检机器人的跨障运动轨迹控制  

Motion trajectory control of overhead transmission line inspection robot in spanning obstacles

作　　者：刘国平[1] 缪航[1] 俞振东[1] 孙茂文[1] 秦科技 LIU Guoping MIAO Hang YU Zhendong SUN Maowen QIN Keji(Robotics and Control Laboratory, School of Mechanical Engineering, Nanchang University, Nanchang 330031 , P. R. China)

机构地区：[1]南昌大学机电工程学院机器人控制实验室,南昌330031

出　　处：《重庆邮电大学学报（自然科学版）》2017年第3期396-402,共7页Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)

基　　金：江西省科技支撑计划(00406631100924020)~~

摘　　要：针对高压输电线检修维护问题,自主研发了新型三臂式架空输电线巡检机器人,并提出跨障的识别方案和动作方案。简化了此巡检机器人的跨障运动过程,采用D-H(Danevit-Hartenberg)建模方法建立了机器人跨障过程的运动学模型。在此基础上,应用拉格朗日力学方法完成了动力学建模。针对跨障运动轨迹跟踪问题,将外界干扰、误差等不确定因素考虑进去,采用鲁棒自适应PD(proportional-derivative)控制方法进行控制。为了验证此方法,加入传统PD控制方法进行对比。以理想的运动轨迹为目标轨迹,通过Simulink分别仿真得到2种算法的跟踪轨迹,将搭载2种算法的巡检机器人先后放在实际线路上运行,通过多传感器采集得到运动轨迹。实验结果显示它们的控制轨迹都非常接近目标值。从跟踪轨迹上对比2种算法,证明了所采用方法的有效性、稳定性和优越性。The novel tribrachiation overhead transmission line inspection robot is developed to help solve the maintenance problem of high-voltage transmission lines. The recognition scheme and movement scheme of spanning obstacles are put for-ward. The motion of spanning obstacles is simplified. With D-H（ Danevit-Hartenberg） modeling method, kinematics mod-eling is established. On this basis, dynamic modeling is completed by Lagrange Mechanics method. Considering external disturbance and tracking errors, the robust adaptive PD control method is adopted for solving the trajectoiy tracking prob-lem. In order to validate this method, the traditional PD control method is added. Using the ideal trajectoiy as the target trajectoiy, simulation trajectoiy of two methods are obtained by Simulink respectively. Canying the two methods successive-ly ,the inspection robot run on the real line and the trajectoiy is obtained by sensors. The experimental results show that the trajectoiy of both methods is veiy close to the target trajectory. Compared with two methods by the tracking trajectoiy, the validity, stability and superiority of the adopted method are verified.

关 键 词：巡检机器人 动力学模型 运动轨迹控制 鲁棒自适应PD控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]