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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     
基于卡尔曼滤波的巡视机器人能耗估计
付兴伟, 吴功平, 周鹏, 于娜
武汉大学 动力与机械学院,湖北 武汉 430072
Energy-consumption estimation of inspection robot based on Kalman filter
FU Xing-wei, WU Gong-ping, ZHOU Peng, YU Na
School of Power and Mechanical Engineering, Wuhan University,Wuhan 430072,China
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摘要：

为了对机器人巡检完预定杆塔所需的能耗进行准确的估计,对巡视机器人进行受力分析,利用积分法得到基于线路的环境参数（档段的水平档距、档段高差等）的单档段内的能耗模型；通过实验验证了模型的可行性.通过分析可知,需要巡检的杆塔越多,经过每个档段误差的积累,从起始杆塔截止到终止杆塔的能耗理论值与测量值之间的相对误差越来越大,导致无法准确地估计巡检完预定杆塔所需的能耗.基于自适应卡尔曼滤波器对由能耗模型得到的能耗理论值进行迭代修正,将相对误差控制在1.05%左右,提高了估计精度.
Abstract:

A mechanical analysis for the inspection robot on the line was conducted in order to accurately estimate the energy consumption which is required to ensure the whole inspection process. Then the mathematical model of energy consumption was deduced based on the line parameters of working conditions (span between the adjacent towers, height difference of the adjacent towers, and so on) by the integral method. The feasibility of the model was verified by experiment. The analysis results suggest that the more towers need to inspect the bigger relative error between the theory value and the measured value of the energy consumption from the start tower until terminate tower is, which is caused by the cumulated error of the every line section between the adjacent towers. The energy consumption required for the whole inspection process cannot be accurately estimated. The theory value of the energy consumption from the start tower until terminate tower was iteratively corrected by the adaptive Kalman filter. The relative error was controlled around 1.05%, and the estimation accuracy was improved.
出版日期: 2015-04-01
:  TP 242  
基金资助:

国家“863“高技术研究发展计划资助项目（2006AA04Z202）
通讯作者: 吴功平,男,教授     E-mail: gpwu@whu.edu.cn
作者简介: 付兴伟（1987—）,男,博士生,从事巡视机器人的电源管理系统研究.E-mail: laofuxingwei@126.com
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付兴伟, 吴功平, 周鹏, 于娜. 基于卡尔曼滤波的巡视机器人能耗估计[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.04.009.

FU Xing-wei, WU Gong-ping, ZHOU Peng, YU Na. Energy-consumption estimation of inspection robot based on Kalman filter. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.04.009.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.04.009    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I4/670

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