电力隧道自动巡检机器人调平系统设计与运动学分析  

Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels

作　　者：徐诗洋 吴炳晖 纪冬梅 周佳俊 Xu Shiyang;Wu Binghui;Ji Dongmei;Zhou Jiajun(College of Energy and Mechanical Engineering,Shanghai University of Electric Power,Shanghai 201306,China)

机构地区：[1]上海电力大学能源与机械工程学院,上海201306

出　　处：《机械传动》2024年第4期69-74,147,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52175343)。

摘　　要：为了解决机器人在行走过程中车身倾斜导致数据采集失准的问题,设计了一款基于比例-积分(Proportional Integral,PI)鲁棒滑模控制系统的3-RPS并联调平机构。首先,根据螺旋和反螺旋理论进行了构型综合;其次,对3-RPS调平机构进行了动力学分析计算,构建其动力学模型,并在此基础上引入自适应鲁棒滑模算法,对PI控制器进行优化改进,提高稳定性和自适应修正能力,利用李雅普诺夫(Lyapunov)函数对非线性控制系统进行了稳定性验证;最后,通过Matlab/Simulink对比模拟试验,获得控制误差曲线。仿真结果表明,基于鲁棒滑模算法优化后的PI控制系统自适应修正效果显著,大幅度降低了控制稳态误差。研究为3-RPS并联调平机构物理样机研制提供了基础。A 3-RPS parallel leveling mechanism based on the proportional integral(PI)robust sliding mode system is designed to solve the problem of data acquisition inaccuracy caused by vehicle tilting during the robot walking.Firstly,the configuration synthesis is carried out according to the spiral and inverse spiral theory.Then,the dynamic analysis and calculation of the 3-RPS leveling mechanism are carried out to construct its dynamic model.On this basis,the adaptive robust sliding mode algorithm is introduced to optimize and improve the PI controller to improve the stability and adaptive correction ability.The stability of the nonlinear control system is verified by Lyapunov function.Finally,the control error curve is obtained by Matlab/Simulink comparative simulation experiment.The simulation results show that the adaptive correction effect of the PI control system optimized by the robust sliding mode algorithm is remarkable,and the steady-state error of the control is greatly reduced.The research provides a basis for the development of physical prototype of 3-RPS parallel leveling mechanism.

关 键 词：3-RPS调平机构 运动学分析 非线性控制 李雅普诺夫函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]