树障清理空中机器人刀具调速系统控制器设计  

Design of Controller for Cutting Tool Speed Control System of Tree Barrier Cleaning Aerial Robot

作　　者：张秋雁 杨忠[2] 李捷文 许昌亮 徐浩 王少辉 常乐 ZHANG Qiuyan;YANG Zhong;LI Jiewen;XU Changliang;XU Hao;WANG Shaohui;CHANG Le(Electric Power Research Institute of Guizhou Power Grid Co. , Ltd. ,Guiyang 550002,China;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]贵州电网有限责任公司电力科学研究院,贵州550002 [2]南京航空航天大学自动化学院,南京211106

出　　处：《微电机》2019年第10期49-54,共6页Micromotors

基　　金：中国南方电网有限责任公司科技项目(066600KK52170074);国家自然科学基金面上项目(61473144);江苏高校优势学科建设工程资助项目;国家重点研发计划项目(2017YFE0113200);安徽省对外科技合作项目(1604b0602018)

摘　　要：树障清理空中机器人的刀具系统在进行切割作业时存在负载扰动,且刀具电机的电机参数会有摄动情况的发生,若使用常规的双闭环 PI控制,会存在动态性能欠佳、超调大、适应性差等不足,而且在给定转速突变的情况下可能会导致 Windup现象。针对以上问题,为防止给定突变时产生 Windup现象,电流环控制器采用了一种在反计算 Anti Windup方法基础上改进的变结构 Anti Windup PI控制方法。为提高系统的自适应能力,将模糊控制思想与PID控制思想相结合,设计了转速环的模糊 PID自适应控制器。最后通过仿真与实物实验对提出的控制器的可行性进行验证。结果表明,控制器对系统参数变化有很强的自适应能力,且对负载的扰动有很强的抑制能力,给定转速突变时系统有较快的动态响应且超调较小。There are load disturbances in the cutting tool system of tree barrier cleaning aerial robot in the working process, and the motor parameters of the cutting tool motor will change. If the conventional double closed-loop PI control is used, there will be some shortcomings, such as poor dynamic performance, large overshoot and poor adaptability, and Windup may occur when the given rotational speed suddenly changes. To prevent the Windup phenomenon, the current loop controller adopted an improved variable structure Anti-Windup-PI control method based on the anti-computing Anti-Windup method. In order to improve the adaptive ability of the system, the fuzzy-PID adaptive controller of the speed loop was designed by combining the fuzzy control idea with the PID control idea. Finally, the proposed controller was validated by simulation and experiment. The results show that the controller has a strong adaptive ability to the change of system parameters and a strong ability to suppress the disturbance of load. The system has a fast dynamic response and a small overshoot when the speed changes suddenly.

关 键 词：树障清理空中机器人 刀具系统 Anti WINDUP PI控制器 模糊 PID自适应控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]