Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)
能源与机械工程     
巡线机器人无动力下坡速度控制方法
胡健1, 吴功平1,王伟1, 杨守东2,刘明2, 杨智勇1, 何缘1, 郭磊1
1.武汉大学 动力与机械学院, 湖北 武汉 430072； 2.国网吉林省电力有限公司 白山供电公司,吉林 白山 134300
Speed control method of unpowered downhill for high voltage transmission line inspection robot
HU Jian1, WU Gong ping1, WANG Wei1, YANG Shou dong2,LIU Ming2, YANG Zhi yong1, HE Yuan1, GUO Lei1
1.School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China; 2. Baishan Power Company, Jilin Electric Power Company, Baishan 134300, China
 全文: PDF(1285 KB)   HTML
摘要：
为了提高高压输电线路巡线机器人续航能力以及降低能量消耗,结合能耗制动与脉宽调制方法,提出巡线机器人无动力下坡控速方法.该方法通过调节能耗电路通断占空比来定量调节能耗电阻消耗功率,实现下坡过程中的速度控制.设计基于线路模型的无动力下坡条件判断策略,采用变论域模糊控制方法实现速度的准确控制,使得机器人在巡检过程中全自主运行.在室外模拟线路和实际输电线路中进行试验验证.结果表明,采用该方法能够有效地控制机器人无动力下坡运行,可以节省12%的能量消耗.
Abstract:
A speed control method of unpowered downhill was proposed combined with energy consumed braking method and pulse width method (PWM) in order to improve endurance ability and reduce energy consumption of inspection robot. Downhill speed was controlled by adjusting the duty cycle of energy consumed circuit so as to change the energy consumption. A condition judgment strategy based on model of overhead ground wire was proposed, and a variable universe fuzzy controller was used to control speed in real time. Experiments were conducted to verify the effectiveness of the above conclusions in both laboratory and real
inspection environment. Results show that the proposed method can effectively control the robot unpowered downhill and save energy consumption.
出版日期: 2015-10-29
:  TH 39  
基金资助:

国家“863”高技术研究发展计划资助项目(2005AA42006 1)；国家自然科学基金资助项目(51105281).
通讯作者: 王伟,男,讲师.ORCID: 0000 0002 6010 8166.     E-mail: whuww@whu.edu.cn
作者简介: 胡健(1989—),男,硕士生,从事特种作业机器人的研究.ORCID: 0000 0002 8349 6595. E-mail: hujian0809@163.com
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

胡健, 吴功平,王伟, 杨守东,刘明, 杨智勇, 何缘, 郭磊.

巡线机器人无动力下坡速度控制方法
[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008 973X.2015.10.008.

HU Jian, WU Gong ping, WANG Wei, YANG Shou dong,LIU Ming, YANG Zhi yong, HE Yuan, GUO Lei. Speed control method of unpowered downhill for high voltage transmission line inspection robot. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008 973X.2015.10.008.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008 973X.2015.10.008    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I10/1878

［1］ 王伟,白玉成,吴功平,等.一种基于信息融合的巡线机器人电磁导航方法［J］.电力系统自动化,2013, 37(16): 73-79.
WANG Wei, BAI Yu cheng, WU Gong ping, et al. An electromagnetic navigation method based on information fusion for inspection robot ［J］. Automation of Electric Power Systems, 2013, 37(16): 73-79.
［2］ POULIOT N, MONTAMBAULT S. Field orienteddevelopments for LineScout technology and its deployment on large water crossing transmission lines ［J］. Journal of Field Robotics, 2012, 29(1): 25-46.
［3］ WANG P, MEI S, LIU F, et al. Research on self power supply sytem of inspection robot for high voltage power transmission lines ［J］. Advanced Technology of Electrical Engineering and Energy, 2011, 30(4): 244-247.
［4］ 白玉成,吴功平,肖华,等.输电线路感应取电装置参数匹配方法［J］.电力系统自动化,2010, 34(21): 75-80.
BAI Yu cheng, WU Gong ping, XIAO Hua, et al. A parameter matching method for power induction devices on power transmission lines ［J］. Automation of Electric Power Systems, 2010, 34(21): 75-80.
［5］ 孟遂民,孔伟.架空输电线路设计［M］.北京：中国电力出版社,2007: 66-70.
［6］ 全玉生,王震宇,郝晓飞,等.基于悬链线理论的架空输电线路故障测距算法［J］.现代电力, 2009, 26(1): 52-56.
QUAN Yu sheng, WANG Zhen yu, HAO Xiao fei, et al. Fault estimation algorithm for overhead transmission line based on catenary theory ［J］. Modern Electric Power, 2009, 26(1): 52-56.
［7］ 林海,何瑞玲,周海森,等.三相无刷直流电机改进型脉宽调制策略［J］.电力系统及其自动化学报,2013,25(6): 79-83.
LIN Hai, HE Rui ling, ZHOU Hai sen, et al.Improved PWM scheme for permanent magnet brushless DC motor drives ［J］. Proceedings of the CSU EPSA, 2013, 25(6): 79-83.
［8］ LIU X, LIU C, LU M, et al. Regenerative braking control strategies of switched reluctance machine for electric bicycle ［C］ ∥ International Conference on Electrical Machines and Systems. Wuhan: IEEE, 2008: 3397-3400.
［9］ 李力, 邹砚湖.海底采矿车路径跟踪的变论域模糊控制［J］.中南大学学报：自然科学版, 2012, 43(2):489-496.
LI Li, ZOU Yan hu. Tracking moving path of seabed mining vehicle based on theory of variable universe fuzzy control ［J］. Journal of Central South University: Science and Technology, 2012, 43(2): 489-496.
［10］ 管成,彭华.基于非线性函数的注塑机注射压力模糊控制［J］.浙江大学学报：工学版,2011, 45(8): 1382-1386.
GUAN Cheng, PENG Hua. Fuzzy control of injection pressure of injection molding machine based on a nonlinear function ［J］. Journal of Zhejiang University:Engineering Science, 2011, 45(8): 1382-1386.
［11］ LU Y, XIA C. Observer based variable universe fuzzy control with dynamic self structure ［C］∥ International Conference on Machine Learning and Cybernetics. Baoding: IEEE, 2009: 743-748.
[1] 陈海森, 张德新, 王继河, 邵晓巍, 陈国忠. 基于H∞-交叉耦合算法的双驱同步控制[J]. 浙江大学学报(工学版), 2017, 51(1): 131-137.
[2] 朱成党, 涂乐, 林勇刚, 刘宏伟, 李伟. 风电机组的机械液压混合传动技术[J]. 浙江大学学报(工学版), 2014, 48(10): 1767-1774.