基于模糊PID算法的输电线路除冰机器人智能控制系统设计  

Design of Intelligent Control System for Transmission Line Deicing Robot Based on Fuzzy PID Algorithm

作　　者：任丽 REN Li(Intelligent Manufacturing College,Anhui Wenda School of Information Engineering,Hefei 231201,China)

机构地区：[1]安徽文达信息工程学院智能制造学院,安徽合肥231201

出　　处：《信息工程大学学报》2023年第2期157-162,共6页Journal of Information Engineering University

基　　金：安徽省教育厅高校科学重点研究资助项目(KJ2021A1196)。

摘　　要：输电线路覆冰会引起断线、跳闸以及电网通信中断等事故。人工除冰的作业劳动强度大、效率低,且危险度较高,除冰机器人的应用越来越广泛。为有效提升除冰机器人控制误差,优化机器人越障能力,应用模糊PID算法设计新的输电线路除冰机器人智能控制系统。系统硬件由数据采集模块和控制模块组成,采集模块选用型号为BD73-DAQ970A的数据采集器,利用数据扫描得到相关信息,控制模块选用型号为RW-C901-00-08-HL-T的PID控制器。利用模糊PID算法计算越障参数和规则参数,通过选取偏差参数调节安全系数,根据控制参数结合控制系统软件,调节机器人的控制指令参数,将控制参数全部转移至调节空间中执行集中控制操作,实现对除冰机器人的智能控制。实验结果表明,将模糊PID算法应用在输电线路除冰机器人智能控制上可以更好地实现越障。与传统控制方法相比,所设计系统的控制误差更低,除冰效果较为理想。Transmission line icing will cause accidents such as line breaking,tripping and power grid communication interruption.Manual deicing has high labor intensity,low efficiency and high risk.Therefore,deicing robots are more and more widely used.In order to effectively improve the control error of deicing robot and optimize the obstacle crossing ability of robot,a new intelligent control system of transmission line deicing robot is designed by using fuzzy PID algorithm.The sys-tem hardware consists of data acquisition module and control module.The acquisition module utilizes the data collector with model BD73-DAQ970A,and obtains relevant information by data scanning.The control module exploits the PID controller of RW-C901-00-08-HL-T.The obstacle crossing pa-rameters and rule parameters are calculated by using the fuzzy PID algorithm,the safety factor is ad-justed by selecting the deviation parameters,the control command parameters of the robot are adjus-ted according to the control parameters combined with the control system software,and all the con-trol parameters are transferred to the adjustment space to perform the centralized control operation,

关 键 词：模糊PID算法 输电线路 除冰机器人 智能控制 控制系统 系统设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]