输电线巡检机器人位姿变化的柔性关节控制策略

doi:10.12068/j.issn.1005-3026.2020.11.009

东北大学学报:自然科学版 ›› 2020, Vol. 41 ›› Issue (11): 1577-1583.DOI: 10.12068/j.issn.1005-3026.2020.11.009

输电线巡检机器人位姿变化的柔性关节控制策略

李小彭，尚东阳，李凡杰，闻邦椿

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2020-04-07 修回日期:2020-04-07 出版日期:2020-11-15 发布日期:2020-11-16
通讯作者: 李小彭
作者简介:李小彭(1976-)，男，江西宁都人，东北大学教授，博士生导师; 闻邦椿(1930-)，男，浙江杭州人，东北大学教授，博士生导师，中国科学院院士.
基金资助:
国家自然科学基金资助项目(51875092); 中央高校基本科研业务费专项资金资助项目(N170302001).

Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots

LI Xiao-peng， SHANG Dong-yang， LI Fan-jie，WEN Bang-chun

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2020-04-07 Revised:2020-04-07 Online:2020-11-15 Published:2020-11-16
Contact: SHANG Dong-yang
About author:-
Supported by:
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摘要/Abstract

摘要： 为降低输电线巡检机器人的柔性关节输出速度的波动程度，采用极点配置方法设计柔性关节伺服驱动系统控制器参数.该参数的选择随机器人位姿变化而变化，从而使机器人柔性关节伺服驱动系统能够获得平稳的输出速度.首先建立了机器人柔性关节伺服驱动系统动力学方程，并求得电机转速到电机电磁转矩的传递函数；接下来将PI控制策略应用于柔性关节伺服控制，求得控制系统闭环传递函数；然后采用相同阻尼系数的极点配置策略设计控制器参数；最后开展了巡检机器人越障情况下变位姿工况的柔性关节控制实验，结果说明可通过适当选择极点配置参数使柔性关节获得良好的输出速度.

关键词: 柔性关节, PI控制策略, 伺服系统, 巡检机器人, 位姿变化

Abstract: In order to reduce the fluctuation degree of output velocity of flexible joints of transmission line inspection robots， the controller parameter of the flexible joint servo drive system is designed by pole assignment. The choice of this parameter changes with the change of the robot posture so that the robot flexible joint servo drive system can obtain a stable output speed. Firstly， the dynamic equation of the robot flexible joint servo drive system is established and the transfer function of motor speed to electromagnetic torque is obtained. Then PI control strategy is applied to the flexible joint servo control to obtain the closed-loop transfer function of the control system. Then the pole assignment strategy with the same damping coefficient is used to design the controller parameter. Finally， the experiment of flexible joint control under the condition of the patrol robot surmounting obstacles is carried out， which shows that the flexible joint can obtain a good output speed by selecting pole assignment parameters properly.

Key words: flexible joint, PI control strategy, servo system, inspection robot, posture change

中图分类号:

TP13
TP249

李小彭，尚东阳，李凡杰，闻邦椿. 输电线巡检机器人位姿变化的柔性关节控制策略[J]. 东北大学学报:自然科学版, 2020, 41(11): 1577-1583.

LI Xiao-peng， SHANG Dong-yang， LI Fan-jie，WEN Bang-chun. Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots[J]. Journal of Northeastern University Natural Science, 2020, 41(11): 1577-1583.

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输电线巡检机器人位姿变化的柔性关节控制策略

Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots

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