干扰作用下的电力巡检机器人运动平衡控制  

Motion balance control of power line inspection robot under disturbance

作　　者：戴雪刚 陈志环 DAI Xuegang;CHEN Zhihuan(Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081

出　　处：《武汉科技大学学报》2024年第5期368-375,共8页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金项目(62203339,62073250).

摘　　要：针对电力巡检机器人受外部干扰和参数变化影响的问题,提出一种基于干扰观测器的自适应反演滑模控制策略。首先,建立电力巡检机器人运动平衡调节过程中的非线性动力学模型,在平衡点对其线性化,从而克服反步技术的不可计算性。其次,通过干扰观测器渐进地估计系统存在的外部干扰,并将估测结果引入反演滑模控制器进行扰动补偿。同时,为了削弱系统的抖振,对反演滑模控制器的切换项采用自适应律进行调节。最后,利用Lyapunov函数证明了闭环系统的稳定性。仿真结果表明,与传统的反演滑模控制策略相比,所提出的控制方案不仅具有更强的抗干扰性,而且能有效降低系统抖振,实现对期望轨迹的高精度跟踪。To address the problem that power line inspection robots(PLIR)are affected by external disturbance and parameter change,an adaptive backstepping sliding mode control strategy based on disturbance observer was proposed.Firstly,a nonlinear dynamic model of PLIR in the process of motion balance adjustment was established and then linearized at the equilibrium point,so as to overcome the incomputability of the backstepping technique.Secondly,the external disturbance of the system was estimated incrementally by the observer,and the results were introduced into the backstepping sliding mode controller for disturbance compensation.At the same time,in order to weaken the system jitter,the switching terms of the backstepping sliding mode controller were adjusted by means of adaptive laws.Finally,Lyapunov function was used to prove the stability of the closed-loop system.The simulation results show that,compared with the traditional backstepping sliding mode strategy,the proposed control scheme not only has better anti-disturbance performance but also can reduce the system jitter effectively and achieve high-precision tracking of the desired trajectory.

关 键 词：电力巡检机器人 干扰观测器 反演滑模控制 自适应律 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]