[1]秦新燕,李惠东,冯天明,等.飞走巡线机器人多模式切换混杂控制方法[J].智能系统学报,2023,18(6):1243-1258.[doi:10.11992/tis.202211011]
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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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]
飞走巡线机器人多模式切换混杂控制方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
18
期数:
2023年第6期
页码:
1243-1258
栏目:
学术论文—机器人
出版日期:
2023-11-05
- Title:
- Hybrid control method of multimode switching for flying-walking power-line inspection robots
- Keywords:
- power line; flying-walking power-line inspection robot; multimode switching; hybrid control; automata; monitoring; variable universe fuzzy control; model predictive
- 分类号:
- TP242.6
- 摘要:
- 电力线所处环境恶劣，工况复杂，具柔索特性，对巡线机器人的稳定性和可靠性提出较大挑战，因此以飞走巡线机器人(flying-walking power line inspection robot，FPLIR)为研究对象，提出了一种多模式切换混杂控制方法。在FPLIR巡检工作原理基础上，建立4种控制模式的混杂自动机模型和相互切换的监测器模型；利用Lyapunov函数法和力角稳定性判据(force-angle stability margin，FASM)法分析FPLIR多模式切换和力学特性的稳定性；基于各模式的控制目标，提出了对应的控制策略，尤其结合FPLIR的结构和工况特点，设计变论域模糊控制器，提高FPLIR线上行走的稳定性，设计模型预测控制器，提高FPLIR落线的安全性。最后通过仿真和实验验证了多模式切换混杂控制方法的有效性和可行性，提升了FPLIR在复杂电力线环境下的适应性，为未来机器人智能巡检提供理论参考。
- 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.
- 参考文献/References:
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备注/Memo
收稿日期:2022-11-10。
基金项目:国家自然科学基金项目(62163032，62063030)；兵团财政科技计划(2021DB003，2022CB011，2022CB002-07)；兵团九师科技专项(2021JS008).
作者简介:秦新燕,副教授,博士,主要研究方向为机器人和复杂机电系统与控制,农业机械装备创新与性能设计。主持国家自然科学基金项目1项、兵团财政科技创新骨干人才计划项目1项,参与国家自然科学基金项目1项、兵团财政科技计划项目1项、兵团九师科技专项1项,授权发明专利3项。发表学术论文10余篇,主编教材1部;李惠东,硕士研究生,主要研究方向为电力线巡检机器人控制系统;雷金,副教授,博士后,主要研究方向为机器人和复杂机电系统与控制。主持国家自然科学基金项目1项、兵团财政科技创新人才计划项目1项、兵团财政科技计划项目1项、兵团九师科技专项1项,授权发明专利4项、实用新型2项、计算机软件著作 权1项。发表期刊论文20余篇
通讯作者:雷金.E-mail:jinlei@shzu.edu.cn
更新日期/Last Update:
1900-01-01