| With the rapid development of smart grids and the widespread use of robots,power line inspection robots has become a hot spot in global robotics research.The robot not only bears the wind load during the line inspection,but also needs to overcome or avoid various obstacles such as the tower,the anti-vibration hammer,the suspension clamp and the drainage jumper.The working conditions of the robot become more complicated and the task becomes more and more.Fine and complex.Therefore,the motion control of the inspection robot has become one of the important research directions in the field of inspection robots.In this paper,the transmission line inspection robot designed by the research group is taken as the research object.The motion planning of the inspection robot and the establishment of the overall dynamic model of the obstacle are successively carried out.The design of prototype production and control platform of the robot motion control law considering the wind load are considered.Building experiments and so on.The specific work of the thesis is as follows:(1)The obstacle inspection plan and simulation are carried out for the inspection robot across the vertical clamp.Divide the inspection robot across the overhanging clip into several key poses and key behaviors,and establish a D-H kinematics model to provide a basis for dynamics modeling;Based on Stateflow,build a finite state machine model of the inspection robot,combined with Simulink model,the motion sequence of the inspection robot is planned,and the obstacle-moving simulation of the inspection robot is completed.(2)An overall dynamic model of the inspection robot across the vertical clamp is established.The wind load model of the inspection robot is combined with the actual obstacleobscuring process to simplify the specific parameters of the wind load.Based on the overall dynamic model,the dynamic model considering the wind load is obtained,and the segmentation control for the inspection robot is also carried out.The strategy is to obtain a dynamic model of the two-axis linkage of the two joints of the inspection robot.(3)A motion controller for the inspection robot that considers the wind load is designed.Based on the dynamic equation,the traditional PID control is used for simulation control.The joint control of the inspection robot is built based on the sliding film control of input and output stability.The feasibility of the controller is verified by simulation experiments.Finally,the parameters are optimized.Adjust to achieve the stability of its dynamics.An optimization method for joint motion parameters is proposed,and the parameters are optimized for specific joints.(4)The design of the inspection robot motion control system is completed,the prototype of the inspection robot and the control platform construction experiment are completed.Based on STM32 single-chip microcomputer,the design of DC motor speed control system including steering control,speed control and key input is designed.Combined with PWM generation,the speed and current double closed-loop control system is designed.The prototype of the inspection robot was completed by 3D printing,and the motor control experiment was carried out for the obstacle movement control of the inspection robot,which verified the structural design of the inspection robot and the rationality of the obstacle movement planning.Through research,the obstacle movement planning of the transmission line inspection robot across the suspension clamp,the dynamic modeling of the obstacle arm,the simplification of the wind load considering the obstacle process,the motion controller across the suspension clamp and its theoretical simulation are realized.In other aspects,the motion control platform of the inspection robot is built to carry out the obstacle crossing experiment of the suspension clamp,and the rationality of the motion planning of the rotation obstacle mode is verified. |
