基于FPSO的电力巡检机器人的广义二型模糊逻辑控制  

General Type-2 Fuzzy Logic Control for a Power-line Inspection Robot Based on FPSO

作　　者：吴庆 赵涛[1] 佃松宜[1] 郭锐 李胜川 方红帏 韩吉霞 WU Qing;ZHAO Tao;DIAN Song-Yi;GUO Rui;LI Sheng-Chuan;FANG Hong-Wei;HAN Ji-Xia(College of Electrical Engineering,Sichuan University,Chengdu 610065;State Grid Shandong Electric Power Company,Jinan 250001;Electric Power Research Institute of State Grid Liaoning Electric Power Co.,Ltd.,Shenyang 110006)

机构地区：[1]四川大学电气工程学院,成都610065 [2]国网山东省电力公司,济南250001 [3]国网辽宁省电力有限公司电力科学研究院,沈阳110006

出　　处：《自动化学报》2022年第6期1482-1492,共11页Acta Automatica Sinica

基　　金：国家重点研发计划(2018YFB1307401);国家自然科学基金(61703291)资助。

摘　　要：针对电力巡检机器人(Power-line inspection robot,PLIR)的平衡调节问题,设计了广义二型模糊逻辑控制器(General type-2 fuzzy logic controller,GT2FLC);针对GT2FLC中隶属函数参数难以确定的问题,通过模糊粒子群(Fuzzy particle swarm optimization,FPSO)算法来优化隶属函数参数.将GT2FLC的控制性能与区间二型模糊逻辑控制器(Interval type-2 fuzzy logic controller,IT2FLC)和一型模糊逻辑控制器(Type-1 fuzzy logic controller,T1FLC)的控制性能进行对比.除此之外,还考虑了外部干扰对三种控制器控制效果的影响.仿真结果表明,GT2FLC具有更好的性能和处理不确定性的能力.A general type-2 fuzzy logic controller(GT2FLC)is designed to control the balance of a power-line inspection robot(PLIR).Because it is difficult to determine parameters of membership function in GT2FLC,the fuzzy particle swarm optimization(FPSO)is applied to optimize the parameters of membership function in GT2FLC.The performance of GT2FLC is compared with the performance of the type-1 fuzzy logic controller(T1FLC)and interval type-2 fuzzy logic controller(IT2FLC).Furthermore,the influence of external disturbances on the control effect of the PLIR is considered.According to simulations,the performance of GT2FLC is better than performance of other controllers,and the GT2FLC has better ability to deal with uncertainties.

关 键 词：广义二型模糊逻辑控制器 隶属函数 模糊粒子群 电力巡检机器人 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程] TM75[电气工程—电力系统及自动化]