考虑负载时变的线路巡检机器人动态性能分析

doi:10.12068/j.issn.1005-3026.2022.05.008

东北大学学报（自然科学版） ›› 2022, Vol. 43 ›› Issue (5): 660-667.DOI: 10.12068/j.issn.1005-3026.2022.05.008

考虑负载时变的线路巡检机器人动态性能分析

李小彭，樊星，李凯，张凌越

(东北大学机械工程与自动化学院，辽宁沈阳110819)

修回日期:2021-07-15 接受日期:2021-07-15 发布日期:2022-06-20
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.
基金资助:
国家自然科学基金资助项目(51875092); 宁夏回族自治区自然科学基金资助项目(2020AAC03279).

Dynamic Performance Analysis of Line Inspecting Robots Considering Time-Varying Loads

LI Xiao-peng， FAN Xing， LI Kai， ZHANG Ling-yue

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

Revised:2021-07-15 Accepted:2021-07-15 Published:2022-06-20
Contact: LI Xiao-peng
About author:-
Supported by:
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摘要/Abstract

摘要： 巡检机器人进行越障时，受负载时变影响，会出现控制超调、振动等现象.在考虑负载惯量时变特性的情况下，研究了一种用于分析巡检机器人越障状态下动态性能的方法.对双臂线路巡检机器人的回转机构建立了基于双惯量模型的动力学方程，使用改进D-H法与拉格朗日法对机器人建模，具体包括分配坐标系，求解拉格朗日方程，利用惯性矩阵计算负载转动惯量等.通过选择合适的阻尼系数设计了控制器参数，利用阻尼系数与固有角频率的变化分析了机器人的动态性能变化.研究成果有助于对双臂巡检机器人越障时的动态性能进行分析，并可用于机器人的伺服控制参数调试.

关键词: 线路巡检机器人;负载时变;双惯量系统;动态性能;伺服控制

Abstract: When the power transmission line inspection robots(PTLIRs)cross obstacles， the phenomenon of control overshoot and vibration will appear due to the influence of time-varying loads. A method for analyzing the dynamic performance of PTLIRs in obstacle crossing state is studied considering the time-varying characteristics of load inertia. The dynamics equations of the slewing mechanism of the dual-arm PTLIR are established with the two-inertia-system， and further the kinematics and dynamics modeling are carried out based on the modified D-H method and Lagrangian mechanics， including assigning coordinate system， solving Lagrange’s equation， using inertia matrix to calculate the load moment of inertia， etc. The controller parameters are designed by selecting appropriate damping coefficient， and the changes of the damping coefficient and the natural angular frequency are used to analyze the dynamic performance of the PTLIR. The research results are helpful to analyze the dynamic performance of the dual-arm PTLIR affected by the time-varying load inertia when crossing obstacles， and can be used to debug the servo parameters of the robot.

Key words: power transmission line inspection robot; time-varying load; two-inertia-system; dynamic performance; servo sontrol

中图分类号:

TH113

李小彭，樊星，李凯，张凌越. 考虑负载时变的线路巡检机器人动态性能分析[J]. 东北大学学报（自然科学版）, 2022, 43(5): 660-667.

LI Xiao-peng， FAN Xing， LI Kai， ZHANG Ling-yue. Dynamic Performance Analysis of Line Inspecting Robots Considering Time-Varying Loads[J]. Journal of Northeastern University(Natural Science), 2022, 43(5): 660-667.

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考虑负载时变的线路巡检机器人动态性能分析

Dynamic Performance Analysis of Line Inspecting Robots Considering Time-Varying Loads

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