变电站智能巡检机器人轨迹跟踪控制方法研究  

Research on Trajectory Tracking Control Method of Substation Intelligent Inspection Robot

作　　者：黄炜昭 辛拓 张宏钊 陈龙 何维 谢欢欢 HUANG Weizhao;XIN Tuo;ZHANG Hongzhao;CHEN Long;HE Wei;XIE Huanhuan(Shenzhen Power Supply Bureau Co.,Ltd.,Shenzhen 518000,China)

机构地区：[1]深圳供电局有限公司,广东深圳518000

出　　处：《自动化仪表》2025年第3期54-58,64,共6页Process Automation Instrumentation

基　　金：深圳供电局有限公司基金资助项目(090000KK52200150)。

摘　　要：针对智能巡检机器人在变电站巡检中受外部扰动的影响偏离期望巡检轨迹的问题,提出考虑抖振影响的变电站智能巡检机器人轨迹跟踪控制方法。建立机器人在巡检过程中的运动学模型,获取巡检过程中机器人的运动特性,对机器人进行虚拟速度控制。采用滑模控制对机器人进行积分滑模控制。考虑机器人的抖振作用,设计扰动观测器以缓解抖振现象。考虑相关约束条件,通过跟踪控制函数得到机器人在变电站巡检过程中的最优路径。试验结果表明:所提方法跟踪控制后,巡检机器人轨迹跟踪控制结果与期望轨迹几乎完全重合;在机器人巡检过程中引入外部扰动,谐波控制效果较好。所提方法可以综合控制巡检机器人轨迹跟踪,使控制过程具有抗干扰能力,并且具有较高的控制精度。Aiming at the problem that the intelligent inspection robot deviates from the desired inspection trajectory by the influence of external perturbation in substation inspection,the intelligent inspection robot trajectory tracking control method of substation is proposed to consider the influence of jitter.The kinematic model of the robot in the inspection process is established,the motion characteristics of the robot in the inspection process are obtained,and the virtual speed control of the robot is carried out.Sliding mode control is used to perform integral sliding mode control of the robot.A disturbance observer is designed to alleviate the jitter phenomenon by considering the jitter effect of the robot.Considering the relevant constraints,the optimal path of the robot in the process of substation inspection is obtained through the tracking control function.The experimental results show that:after the proposed method of tracking control,the inspection robot trajectory tracking control results and the desired trajectory almost completely overlap;the introduction of external perturbations in the robot inspection process,the harmonic control effect is better.The proposed method can comprehensively control the inspection robot trajectory tracking,so that the control process has the ability of anti-interference and has a high control accuracy.

关 键 词：变电站 智能巡检机器人 抖振影响 轨迹跟踪控制 滑模控制 最优路径 

分 类 号：TH-39[机械工程]