飞走巡线机器人多模式切换混杂控制方法  

Hybrid control method of multimode switching for flying-walking power-line inspection robots

作　　者：秦新燕 李惠东 冯天明 雷金 李博 李兆钧 张杰[1] 王艳琦 贾文兴 QIN Xinyan;LI Huidong;FENG Tianming;LEI Jin;LI Bo;LI Zhaojun;ZHANG Jie;WANG Yanqi;JIA Wenxing(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832003,China)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832003

出　　处：《智能系统学报》2023年第6期1243-1258,共16页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(62163032,62063030);兵团财政科技计划(2021DB003,2022CB011,2022CB002-07);兵团九师科技专项(2021JS008).

摘　　要：电力线所处环境恶劣,工况复杂,具柔索特性,对巡线机器人的稳定性和可靠性提出较大挑战,因此以飞走巡线机器人(flying-walking power line inspection robot,FPLIR)为研究对象,提出了一种多模式切换混杂控制方法。在FPLIR巡检工作原理基础上,建立4种控制模式的混杂自动机模型和相互切换的监测器模型;利用Lyapunov函数法和力角稳定性判据(force-angle stability margin,FASM)法分析FPLIR多模式切换和力学特性的稳定性;基于各模式的控制目标,提出了对应的控制策略,尤其结合FPLIR的结构和工况特点,设计变论域模糊控制器,提高FPLIR线上行走的稳定性,设计模型预测控制器,提高FPLIR落线的安全性。最后通过仿真和实验验证了多模式切换混杂控制方法的有效性和可行性,提升了FPLIR在复杂电力线环境下的适应性,为未来机器人智能巡检提供理论参考。The stability and reliability of power-line inspection robots are greatly affected by harsh environments,complex working conditions,and flexible characteristics of the power line.Therefore,a hybrid automata model of multimode switching is proposed for flying-walking power-line inspection robots(FPLIRs).Herein,a hybrid automata model and multimode-switching monitoring model for four control modes were established based on the operating principles of FPLIR inspection,and the Lyapunov function method and force-angle stability margin were used to analyze the stability of multimode switching and mechanical properties.Based on the control objective of each mode,corresponding control strategies were proposed.In particular,combined with the structure and working condition characteristics of FPLIRs,the variable universe fuzzy controller and model prediction controller were designed to improve the stability of FPLIRs walking along a line and the safety of FPLIR flight-line falling,respectively.Finally,the effectiveness and feasibility of the multimode switching hybrid control method were verified through simulations and experiments.The adaptability of FPLIRs in complex power-line environments was improved,providing a theoretical reference for future intelligent inspection using robots.

关 键 词：电力线 飞走巡线机器人 多模式切换 混杂控制 自动机 监测器 变论域模糊控制 模型预测 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]