基于模型预测控制–扩张状态观测器的断股修复机器人双轮行走同步控制  

Synchronization control of dual-wheel walking for broken-stranded repair robot based on model predictive control-extended state observer

作　　者：何加辉 杨忠[1] 卓浩泽 许诺 吴吉莹 王志永 HE Jiahui;YANG Zhong;ZHUO Haoze;XU Nuo;WU Jiying;WANG Zhiyong(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;China Southern Power Grid Guangxi Electric Power Research Institute,Nanning 530004,China;Dongguan Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Dongguan 523000,China;Aviation Industry Shaanxi Aviation Electrical Co.,Ltd.,Xi’an 710065,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]中国南方电网广西电力科学研究院,广西南宁530004 [3]广东电网有限责任公司东莞供电局,广东东莞523000 [4]航空工业陕西航空电气有限责任公司,陕西西安710065

出　　处：《应用科技》2025年第1期122-130,共9页Applied Science and Technology

基　　金：广西电网公司2023年科技创新项目(GXKJXM20230169);贵州省科技计划项目(黔科合支撑[2020]2Y044号).

摘　　要：架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断股修复机器人双轮行走同步控制方法。首先,对断股修复机器人挂线行走作业工况进行力学分析,设计挂线行走机械结构,增加作业稳定性与安全性;其次,针对双驱动轮因磨损、轮径不一致导致的线速度同步误差问题,提出一种基于MPC-ESO的主从融合偏差耦合线速度同步控制策略。仿真与实物验证表明,所提出的机器人双驱动轮同步控制方法可有效解决双驱动轮线速度不同步及机器人高空作业受扰问题。The operation process of the overhead transmission line broken strand repair robot includes online walking,climbing,obstacle crossing and other stages,which requires high requirements for synchronous control of robot power drive.Therefore,this article presents a dual wheel synchronous control method for a broken strand repair robot based on model predictive control(MPC)-extended state observer(ESO).First,mechanical analysis is conducted on the working conditions of the broken strand repair robot's hanging line walking operation,and the hanging line walking mechanical structure is designed,so as to increase the stability and safety of the operation;Second,a master-slave fusion deviation coupled linear speed synchronization control strategy based on MPC-ESO is proposed to address the issue of linear speed synchronization errors caused by wear and inconsistent wheel diameters of dual drive wheels.Simulation and physical verification show that the proposed dual-drive wheel synchronous control method for robots can effectively solve the problems of asynchronous linear velocity of the dual drive wheels and disturbance in robot high-altitude operations.

关 键 词：断股修复机器人 模型预测控制 状态扩张观测器 多电机同步控制 偏差耦合控制 主从控制 

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]