Research Of Power Inspection Robot Motion Control Based On Fuzzy System Theory

With the development of renewable energy technologies and the rise of distributed power grids,the power grid is gradually moving towards the energy Internet.The scale of the power grid is constantly expanding,and the power system is becoming more and more complex.Once a major power outage occurs,the consequences are unthinkable.Inspection work is indispensable for the safe and reliable operation of the power grid.However,the manual inspection method is susceptible to factors such as weather,experience,and mood,resulting in inadequate regular fixed-point inspections and low work efficiency.The power inspection robot can replace the staff to complete difficult and high-precision inspection work,which greatly improves the inspection efficiency and accuracy.Trajectory tracking control is the premise that the inspection robot can accurately reach the inspection point to complete the inspection task.Based on fuzzy theory,this paper designs a trajectory tracking control system for inspection robots,and completes hardware selection and circuit design independently.The designed trajectory tracking control system includes a reference trajectory setting module,speed module,positioning module,and wireless communication module to monitor the posture data of the inspection robot in real time.Write a host computer program to send speed information to the underlying microcontroller through wireless communication,and accept the actual posture information of the inspection robot which fed back to the control system to implement the trajectory tracking control function of the inspection robot.The modeling accuracy has an effect on the effectiveness of the traditional trajectory tracking control algorithm.In order to reduce the dependence of the control strategy on the mathematical model,a trajectory tracking control scheme for inspection robot based on the interval type-2 fuzzy and extended state observe is proposed.Based on the tracking error of inspection robot,the velocity control law designed by the Backstepping method,and the parameters of the control law are obtained by the interval type-2 fuzzy control.The extended state observer can estimate the uncertainty of the inspection robot and the disturbance,and compensate it to the system.In order to verify the correctness of the scheme,the simulation experiment is carried out,and the trajectory tracking control function is realized on the inspection robot platform.In order to enhance the anti-disturbance ability of the control system,an interval type-2 fuzzy sliding mode control strategy is proposed.Based on the kinematics model of the inspection robot,the sliding mode switching function designed by the Backstepping method.The exponential approach law is used to design the speed control law.In order to reduce chattering,the continuous function is used instead of the symbol function.At the same time,the introduction of interval type-2 fuzzy control also effectively alleviated the chattering problem of sliding mode control.Simulation and experimental results show the effectiveness of the fuzzy sliding mode control strategy.Finally,the energy consumption of inspection robot analyzed and the energy consumption model of inspection robot is established.In order to make the battery utilization rate of the inspection robot higher and realize the purpose of energy saving and emission reduction,the interval type-2 fuzzy control strategy considering the energy consumption of inspection robot is proposed on the premise of ensuring that the robot can accurately track the reference trajectory.The simulation results show that this strategy can effectively reduce the energy consumption of the inspection robot,and the inspection robot can accurately track the reference trajectory,and put forward several suggestions to reduce the energy consumption of the inspection robot.