巡检机器人塔上自主充电控制方法研究  

Research on Control Method of Autonomous Charging of Inspection Robot on Tower

作　　者：周余 吴功平[1] 杨松 徐玮泽 ZHOU Yu;WU Gong-ping;YANG Song;XU Wei-ze(School of Power and Mechanical Engineering Wuhan University,Hubei Wuhan 430072,China;State Grid Electric Power Co.,Ltd.,Jilin Province Baishan Power Company,Jilin Baishan 134300,China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]国网吉林省电力有限公司白山供电公司,吉林白山134300

出　　处：《机械设计与制造》2023年第3期271-276,共6页Machinery Design & Manufacture

摘　　要：为实现巡检机器人与太阳能充电基站充电座的准确可靠对接,提出了一套压紧轮碰检C型线夹粗定位以及基于模糊PID的精确定位、霍尔传感器及充电电流反馈对接状态的自主充电对接控制方法。粗定位确定充电座的位置及未安装充电头机械臂的位置;基于模糊PID的精确定位通过分析两机械臂之间距离与充电座与未安装充电头机械臂之间距离的关系,得到精确定位目标。为提高定位精度,首先采用卡尔曼滤波算法对倾角值进行平滑处理;其次,为了实现平稳运动,提出了sin速度曲线作为展臂电机速度控制的目标曲线;以实际位移与理论位移的偏差作为模糊PID系统的输入,控制展臂电机运动速度的输出,实现精确定位。实验表明,该自主充电对接方法高效、可靠、准确,能够满足自主充电对接的任务需求。In order to realize the accurate and reliable docking of the inspection robot and the charging base of the solar charging base station,a set of autonomous charging docking control method of compact positioning of the C-type clamp for bumper wheel inspection and precise positioning based on fuzzy PID,Hall sensor and charging current feedback autonomy are proposed. Coarse positioning determines the position of the charging base and the position of the robot arm without the charging head. The precise positioning based on fuzzy PID is obtained by analyzing the relationship between the distance between the two robot arms and the distance between the charging base and the robot arm without the charging head. aims. In order to improve the positioning accuracy,the Kalman filter algorithm is used to smooth the inclination value. Secondly,in order to achieve smooth movement,a sin speed curve is proposed as the target curve of the speed control of the boom motor. The deviation between the actual displacement and the theoretical displacement is used as the input of the fuzzy PID system to control the output of the movement speed of the boom motor to achieve precise positioning. Experiments show that the autonomous charging docking method is efficient,reliable and accurate,and can meet the task requirements of autonomous charging docking.

关 键 词：自主充电 巡检机器人 卡尔曼滤波 Sin速度曲线 模糊PID 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]