Research Of Manipulator Obstacle Control For Transmission Line De-icing Robot

The breakdown which caused by the ice of transmission lin has been one of the serious disasters of domestic and foreign power system. At present, the most commonly used de-icing technology is also manual de-icing methods, labor operating intensively, costly and dangerous, the de-icing methods and equipment has urgently needed to replace the human to work, the de-icing robot is arised under this kind of demand.As the de-icing robot obstacle arm is a nonlinear and coupling control system, complexed model structure, there are many issues to be resolved under complex conditions in the high-speed, high precision stable control, such as the dynamic compensation of the obstacle arm model, external disturbance inhibition, the guarantees of the stability of controller and so on, moreover modeling errors, disturbances, and some unknown parameters and other uncertainty factors are existed when the obstacle arm model built. As of the shortcomings of traditional control.this paper presents a based on dynamic compensation inverse of internal model control for nonlinear uncertain systems.Model Free Adaptive Control (MFAC) method as an additional controller, used to revise counter model online when the model deviated from the control object. The simulation results show that the method proposed in this paper not only to the robot's constant perturbation system has good robustness of time-varying uncertainties remain better tracking results, with better real-time performance, robustness, and online calibration.After that will apply nonlinear system decoupling method which based on inverse system to the de-icing robot in three connected obstacle arm, with inverse system method for obstacle arm linearization and decoupling,thus will transform three inputs and three outputs nonlinear obstacle arm system into three parallel, independent single-input single-output system, and then will design for the three single-input and single-output control system with the method which previous proposed nonlinear internal model control that based on dynamic compensation of inverse system,which simplified the design control system of obstacle arm de-icing robot. The simulation result had proven the method that proposed is validity.