面向输电线路的空中机器人应急巡检研究  

Research on Emergency Inspection of Aerial Robot for Transmission Line

作　　者：曾瑛 王翌雪 周振宇[2] ZENG Ying;WANG Yi-xue;ZHOU Zhen-yu(Power Dispatching Control Center of Guangdong Power Grid Co.,Ltd.,Guangdong Guangzhou 510000,China;School of Electrical and Electronic Engineering,China North China Electric Power University,Beijing 102206,China)

机构地区：[1]广东电网有限责任公司电力调度控制中心,广东广州510000 [2]华北电力大学电气与电子工程学院,北京102206

出　　处：《机械设计与制造》2024年第5期345-350,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(61971189)。

摘　　要：面对应急通信下的电力巡检难题,提出了一种基于5G无线网络的空中机器人应急巡检方法。首先,阐述了空中机器人在5G无线网络下的工作原理,将应急巡检分为轨迹规划和轨迹跟踪控制。接着,利用改进的萤火虫算法来实现空中机器最优轨迹规划,保证应急巡检的快速性。同时,将空中机器人动力学模型分为位置与姿态两个子系统,引入基于RBF神经网络的自适应控制策略来设计抗干扰轨迹跟踪控制器。最后,通过应急电力巡检仿真算例对这里所提方法的有效性进行了验证。仿真结果表明:(1)改进的萤火虫算法能帮助空中机器人快速规划出一条可飞航迹;(2)所设计的控制器比线性自抗扰控制器具有更好的轨迹跟踪控制性能;(3)所提方法能保证电力巡检空中机器人在5G无线网络框架下对故障区域做出快速有效的应急响应,具有一定的工程参考价值。This paper has proposed an emergency electric patrol inspection method for an aerial robot based on 5G wireless net-works when facing the issue of electric patrol inspection for emergency communication.Firstly,the operating principle of the elec-tric patrol inspection quadrotor under 5G wireless network has been proposed.And the mission and challenge of the above have been analysed.Then,an im-proved glowworm swarm optimization algorithm has been introduced for path planning,which en-sures the rapidity of the emergency electric patrol inspection.Meanwhile,the dynamical model of the quadrotor has been divided into the position loop and attitude subsystems.And an adaptive control strategy based on RBF neural network has been used to de-sign the trajectory tracking control with disturbance rejection for the quadrotor.Lastly,the validity of the proposed method has been tested through a simulation of emergency electric patrol inspection.The results show that the improved glowworm swarm opti-mization algorithm can help the quadrotor obtain a feasible trajectory.And the proposed controller has a superior trajectory track-ing control performance compared to linear active disturbance rejection controller.Furthermore,the proposed method proposed can provide fast and effective emergency response to the fault area under the framework of 5G wireless network for electric inspec-tion quadrotors,which has certain engineering referenced value.

关 键 词：空中机器人 电力巡检 航迹规划 自适应控制 萤火虫算法 5G无线网络 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]