输电线路障碍物清理机器人刀具系统自抗扰控制  

Active Disturbance Rejection Control Method for Cutter System of Line Barrier Cleaning Aerial Robot

作　　者：张秋雁 许昌亮 曾华荣 杨忠[3] 陈科羽 廖禄伟 李捷文 徐浩 ZHANG Qiuyan;XU Changliang;ZENG Huarong;YANG Zhong;CHEN Keyu;LIAO Luwei;LI Jiewen;XU Hao(Electric Power Research Institute of Guizhou Power Grid Co.,Ltd,Guiyang,Guizhou 550002,China;College of Electronic Engineering,Nanjing Xiaozhuang University,Nanjing,Jiangsu 211171,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 211106,China;Transmission and Maintenance Branch of Guizhou Power Grid Co.,Ltd.,Guiyang,Guizhou 550002,China)

机构地区：[1]贵州电网有限责任公司电力科学研究院,贵州贵阳550002 [2]南京晓庄学院电子工程学院,江苏南京211171 [3]南京航空航天大学自动化学院,江苏南京211106 [4]贵州电网有限责任公司输电运行检修分公司,贵州贵阳550002

出　　处：《广东电力》2023年第2期92-101,共10页Guangdong Electric Power

基　　金：贵州省科技计划项目(黔科合支撑[2020]2Y044);中国南方电网有限责任公司科技项目(066600KK52170074);国家自然科学基金项目(61473144)。

摘　　要：高压强电磁环境下,输电线路障碍物清理机器人携带刀具系统进行清理作业时,为保证清障切割作业的平稳,必须对刀具系统进行转速控制;刀具系统在清障切割作业时存在参数摄动,且承受着负载转矩扰动,传统控制方法难以满足刀具控制系统的性能要求。针对以上问题,提出具有线性特性的输电线路障碍物清理机器人刀具系统自抗扰控制策略。根据刀具系统的二阶状态方程,设计清理机器人刀具系统的线性扩张状态观测器和线性自抗扰控制律。在验证刀具闭环控制器的稳定性后,进行仿真实验和物理实验,实验结果表明:刀具系统线性自抗扰控制策略具有良好的控制性能,可适应系统的参数摄动,并有效抑制切割作业时存在的转矩扰动。In the high voltage and strong electromagnetic environment,the remote control operation robot carries the cutting tool system to clear the obstacles on the transmission lines.In order to ensure safety and stability of the cleaning operation,it is necessary to control the rotating speed of the cutter system.In view of that there is parameter perturbation during the clearing and cutting operation,and the cutter system also suffers from the cutting torque disturbance,the traditional control methods are difficult to meet the performance requirements of the cutter control system.Aiming at the above problems,this paper proposes a linear active disturbance rejection control method for the cutter system.According to the second-order state equation of the cutter system,the linear expansion state observer and the linear active disturbance rejection control law are designed.After proving the stability of the cutter closed-loop control system,the simulation and physical experiments are carried out.The experimental results show that the linear active disturbance rejection control method for the cutter system has good control performance,which is adaptable to the parameter perturbation of the system and effective in suppressing the torque disturbance in the cutting operation.

关 键 词：高压输电 刀具系统 参数摄动 负载转矩扰动 线性自抗扰控制 

分 类 号：TM752.5[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]