面向防振锤更换的无人机-机器人协同控制  

UAV Robot Cooperative Control for Replacement of Damper

作　　者：张静 孙喆 王丹阳 ZHANG Jing;SUN Zhe;WANG Danyang(Xi’an Electric Power College,Xi’an 710032,China)

机构地区：[1]西安电力高等专科学校,陕西西安710032

出　　处：《机械与电子》2024年第5期64-68,共5页Machinery & Electronics

基　　金：陕西省教育厅2022年度科研计划项目(22JK0388)。

摘　　要：防振锤更换现场变动因素较多、存在多种信号干扰,抓取力与防振锤重力间的平衡难度大,稳定性较差,由此,提出一种无人机-机器人协同控制算法。明确防振锤内部结构,考虑线路重量和抗振力需求,计算抓取力和防振锤重力,分析不平衡因素,根据构建的无人机-刚柔耦合系统动力学模型,计算不同时间点的最佳的旋转中心值,用于约束机器人运行的最大偏离范围。根据无人机的非线性动态反演关系,以内环控制求得机器人运动轨线与目标轨迹之间的贴合能力,以外环控制获得无人机出现转弯、上升、下降以及停滞状态下的一阶和二阶导数输出数值,采用二阶求导的控制阈值,完成无人机-机器人协同控制。实验结果表明,关节柔性变化轨迹控制稳定性强,无人机姿态角和位置偏差较小,实用价值高。There are many variable factors and multiple signal interferences in the replacement site of the anti-vibration hammer,making it difficult to balance the gripping force and the gravity of the anti-vibration hammer,and the stability is poor.Therefore,a drone robot cooperative control algorithm is proposed.The internal structure of the damper is defined,the line weight and the anti-vibration force requirements are considered,the grabbing force and the gravity of the damper are calculated,the imbalance factors are analyzed,and the optimal rotation center values at different time points are calculated according to the constructed UAV-rigid-flexible coupling system dynamic model,so as to restrict the maximum deviation range of the robot operation.According to the nonlinear dynamic inversion relationship of the UAV,the inner loop control is used to obtain the fitting ability between the robot’s motion trajectory and the target trajectory,and the outer loop control is used to obtain the first and second derivative output values when the UAV turns,rises,falls and stagnates.The second derivative control threshold is used to complete the UAV robot cooperative control.The experimental results prove that joint flexibility trajectory control has strong stability,small attitude angle and position deviation of unmanned aerial vehicles,and high practical value.

关 键 词：防振锤更换 协同控制 最大偏离函数 控制阈值 二阶求导 

分 类 号：TM755[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]