基于模糊PID的电力铁塔攀爬机器人末端位姿控制研究  

Research on terminal position and attitude control of power tower climbing robot based on fuzzy PID

作　　者：韩勇[1] 霍迎秋[1] 费攀锋 HAN Yong;HUO Yingqiu;FEI Panfeng(College of Information Engineering,Northwest A&F University,Shaanxi Yangling 712100,China)

机构地区：[1]西北农林科技大学信息工程学院,陕西杨凌712100

出　　处：《工业仪表与自动化装置》2023年第3期80-84,87,共6页Industrial Instrumentation & Automation

摘　　要：电力铁塔攀爬机器人工作过程中末端位姿易发生偏移,导致机器人末端位姿控制难度增加,所以提出基于模糊PID的电力铁塔攀爬机器人末端位姿控制方法。构建电力铁塔攀爬机器人的运动学模型,分析机器人末端位姿参数变化,获得攀爬机器人位姿偏移值。通过模糊推理策略计算位姿偏移值和PID比例、积分和微分三个控制参数之间的关联,确定机器人末端位姿的模糊控制规则,利用改进人工鱼群算法优化模糊PID初始参数,以此实现电力铁塔攀爬机器人末端位姿控制。测试结果显示:该方法攀爬机器人末端位置计算精度较高,位姿偏移值较小,在有无障碍物两种情况下的平均控制误差低于0.25 cm,能够实现机器人不同攀爬工况下的末端位姿控制。The end position and posture of the power tower climbing robot is prone to shift during its working process,which increases the difficulty of the robot s end position and posture control.Therefore,a fuzzy PID control method for the end position and posture of the power tower climbing robot is proposed.The kinematics model of the power tower climbing robot is constructed,and the change of the robot end position and posture parameters is analyzed to obtain the position and posture offset value of the climbing robot.Through the fuzzy reasoning strategy,the relationship between the position and attitude deviation value and the PID proportion,integral and differential control parameters is calculated,and the fuzzy control rules of the robot s end position and attitude are determined.The improved artificial fish swarm algorithm is used to optimize the initial parameters of the fuzzy PID,so as to realize the end position and attitude control of the power tower climber.The test results show that this method has high accuracy in the calculation of the end position of the climbing robot,small deviation of the position and posture,and the average control error is less than 0.25 cm in the case of obstacles or not,which can achieve the end position and posture control of the robot under different climbing conditions.

关 键 词：模糊PID 电力铁塔 攀爬机器人 末端位姿控制 位姿偏移差 模糊控制规则 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]