输电线路清障飞行机器人双行走轮同步控制  

Synchronous control of dual travelling wheels for transmission line clearance flying robot

作　　者：王志永 杨忠[1] 陶坤 廖禄伟 吴吉莹 张秋雁 WANG Zhiyong;YANG Zhong;TAO Kun;LIAO Luwei;WU Jiying;ZHANG Qiuyan(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Nanjing Taisid Intelligent Technology Co.,Ltd.,Nanjing 211106,China;Electric Power Research Institute of Guizhou Power Grid Co.,Ltd.,Guiyang 550002,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]南京太司德智能科技有限公司,江苏南京211106 [3]贵州电网有限责任公司电力科学研究院,贵州贵阳550002

出　　处：《应用科技》2024年第2期1-7,共7页Applied Science and Technology

基　　金：贵州省科技计划项目(黔科合支撑2Y044号).

摘　　要：传统架空输电线路异物清除作业无人机易受环境影响,作业困难且存在较多扰动等问题。基于此本文设计一种高空作业无人机挂线行走控制机构解决该问题。首先,根据输电线路环境与无人机作业模式,设计挂线行走机构,减弱高空作业时对无人机所受飞行作业扰动的影响;其次,针对清障机器人双行走轮转速同步存在误差问题,提出一种基于反向传播–比例积分微分(back propagation-proportional-integral-differential,BP-PID)主从融合偏差耦合的电机同步控制策略。通过仿真与实物实验验证表明,本文提出的挂线作业无人机双行走轮同步控制算法可有效解决电机因负载导致的转速不稳定以及高空作业无人机受环境扰动的问题。Traditional foreign object removal operations from overhead transmission lines by drones are easily affected by environmental factors.The operations are difficult and there are many disturbances.This paper proposes a solution to solve this problem by designing a high-altitude operation drone hanging-wire walking control mechanism.Firstly,based on the environment of the power transmission line and the operating mode of the drone,a hanging-wire walking mechanism is designed to reduce the impact of flight operation disturbances on the drone during high-altitude operations.Secondly,in response to the problem of synchronization errors in the dual-wheeled walking speed of the obstacle-clearing robot,a motor synchronization control strategy based on back propagation-proportional-integraldifferential(BP-PID)master-slave fusion deviation coupling is proposed.Through simulation and physical experiments,it is demonstrated that the dual-wheeled walking synchronization control algorithm proposed in this paper can effectively solve the problem of motor speed instability caused by load and the disturbance of the high-altitude operation drone due to environmental factors.

关 键 词：输电线路 异物清除 空中机器人 主从控制 偏差耦合 反向传播–比例积分微分 同步控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM75[自动化与计算机技术—控制科学与工程]