基于模糊自抗扰的绝缘喷涂装置控制方法研究与实现  

Research and Implementation of Control Method for Insulation Spraying Device Based on Fuzzy Self Disturbance Rejection

作　　者：何嘉铭 郝思鹏[1] 荆启文 李思源 HE Jiaming;HAO Sipeng;JING Qiwen;LI Siyuan(Shen Guorong Institute of Electrical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院电力工程学院沈国荣学院,南京211167

出　　处：《自动化与仪表》2025年第4期122-125,131,共5页Automation & Instrumentation

摘　　要：该文主要研究针对10 kV配电网柱上设备的绝缘化喷涂作业装置,对当前绝缘喷涂作业中人工喷涂效率低、风险高的问题,提出并设计了一种新型无人机喷涂装置。该装置引入了三轴增稳云台以替代传统的两轴舵机云台,通过提高稳定性来提升喷涂效果。为改善控制性能,该文将模糊自抗扰控制算法应用于装置控制中,以优化控制流程和增强抗干扰能力。通过Matlab/Simulink仿真实验验证,模糊自抗扰控制算法在面对30°的调整指令和幅值为1.2频率为1的正弦干扰环境中,相比传统PID和线性自抗扰控制(LADRC)在响应速度和误差控制方面均表现出更优的性能。This article mainly studies the insulation spraying operation device for equipment on 10 kV distribution network columns.To address the low efficiency and high risk of manual spraying in current insulation spraying operations,a new type of unmanned aerial vehicle spraying device is proposed and designed.This device introduces a three-axis stabilizing gimbal to replace the traditional two axis servo gimbal,improving the spraying effect by enhancing stability.To improve control performance,this paper applies the fuzzy self disturbance rejection control algorithm to device control to optimize the control process and enhance anti-interference ability.Through Matlab/Simulink simulation experiments,it has been verified that the fuzzy active disturbance rejection control algorithm exhibits better performance in response speed and error control compared to traditional PID and linear active disturbance rejection control(LADRC)in the face of a 30°adjustment command and a sine interference environment with an amplitude of 1.2 and a frequency of 1.

关 键 词：模糊控制 线性自抗扰控制 增稳云台 无人系统 云台设计 姿态控制 绝缘喷涂 仿真测试 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]