变电站巡检机器人预设性能反步自抗扰控制  

Preset Performance Backstepping Autodisturbance Rejection Control for Substation Inspection Robot

作　　者：宁雪峰 袁展图 姚俊钦 NING Xuefeng;YUAN Zhantu;YAO Junqin(Dongguan Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Dongguan 523000,China)

机构地区：[1]广东电网有限责任公司东莞供电局,东莞523000

出　　处：《自动化与仪表》2023年第11期40-44,共5页Automation & Instrumentation

基　　金：南方电网公司科技资助项目(031900KK52220003)。

摘　　要：为提升机器人在变电站巡检过程中在干扰情况下的控制效果,研究变电站巡检机器人预设性能反步自抗扰控制方法。该方法以机器人运动模型为基础,利用扩张状态观测器估计机器人运动状态后,确定巡检机器人的运动控制律;同时,完成预设性能函数和误差转换,获取转换后的无约束误差;在此基础上,将其和确定的控制律相结合,构建机器人速度和方位角的反步自抗扰控制器,完成机器人预设性能反步自抗扰控制。测试结果显示,该方法可精准估计机器人在滑动情况下产生的总扰动量,机器人的速度控制结果均在30 m/s~32 m/s范围内,方向角的控制结果均在15°~40°之间,有效控制机器人的力矩震荡现象,机器人在3个方向上的运动误差控制结果均在(-10 cm,10 cm)范围内,能够精准控制机器人按照预设巡检路径完成变电站巡检。In order to improve the control effect of robots in the process of substation inspection under interference,a backstepping autodisturbance rejection control method with preset performance for substation inspection robots is studied.Based on the robot motion model,the extended state observer is used to estimate the robot motion state and determine the motion control law of the patrol robot.At the same time,complete the preset performance function and error conversion to obtain the unconstrained error after conversion.On this basis,it is combined with a determined control law to construct a backstepping auto-disturbance rejection controller for robot speed and azimuth,completing the preset performance backstepping auto-disturbance rejection control of the robot.The test results show that this method can accurately estimate the total disturbance generated by the robot under sliding conditions.The speed control results of the robot are all within the range of 30 m/s~32 m/s,and the control results of the direction angle are all between 15°~40°.Effectively controlling the torque oscillation phenomenon of the robot,the robot's motion error control results in all three directions are within the range of(-10 cm,10 cm),and can accurately control the robot to complete the substation inspection according to the preset inspection path.

关 键 词：变电站 巡检机器人 预设性能 反步自抗扰控制 预设性能函数 总扰动量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]