[1]QIN Xinyan,LI Huidong,FENG Tianming,et al.Hybrid control method of multimode switching for flying-walking power-line inspection robots[J].CAAI Transactions on Intelligent Systems,2023,18(6):1243-1258.[doi:10.11992/tis.202211011]
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Hybrid control method of multimode switching for flying-walking power-line inspection robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 18 Number of periods: 2023 6 Page number: 1243-1258 Column: 学术论文—机器人 Public date: 2023-11-05
Title:
Hybrid control method of multimode switching for flying-walking power-line inspection robots
Author(s):
QIN Xinyan;  LI Huidong;  FENG Tianming;  LEI Jin;  LI Bo;  LI Zhaojun;  ZHANG Jie;  WANG Yanqi;  JIA Wenxing
College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Keywords:
power line; flying-walking power-line inspection robot; multimode switching; hybrid control; automata; monitoring; variable universe fuzzy control; model predictive
CLC:
TP242.6
DOI:
10.11992/tis.202211011
Abstract:
The stability and reliability of power-line inspection robots are greatly affected by harsh environments, complex working conditions, and flexible characteristics of the power line. Therefore, a hybrid automata model of multimode switching is proposed for flying-walking power-line inspection robots (FPLIRs). Herein, a hybrid automata model and multimode-switching monitoring model for four control modes were established based on the operating principles of FPLIR inspection, and the Lyapunov function method and force-angle stability margin were used to analyze the stability of multimode switching and mechanical properties. Based on the control objective of each mode, corresponding control strategies were proposed. In particular, combined with the structure and working condition characteristics of FPLIRs, the variable universe fuzzy controller and model prediction controller were designed to improve the stability of FPLIRs walking along a line and the safety of FPLIR flight-line falling, respectively. Finally, the effectiveness and feasibility of the multimode switching hybrid control method were verified through simulations and experiments. The adaptability of FPLIRs in complex power-line environments was improved, providing a theoretical reference for future intelligent inspection using robots.
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