Analysis of Self-Balancing Mechanism of Transmission Line Inspection Robot Based on Fuzzy PID Control

doi:10.12068/j.issn.1005-3026.2025.20230240

Abstract

Abstract:

An inspection robot tends to swing under wind load，which may reduce the accuracy and reliability of inspection results. The balancing mechanism of the inspection robot under wind load was designed with reference to the rotor aircraft. Firstly，the transfer function between the voltage and speed of the motor was derived by using the dynamic equation of the motor，and the relationship between the lift generated by the rotor and the rotor speed was established by using the blade element method，so as to establish the relationship between the input voltage and the output lift of the balancing mechanism.Secondly，the influence of wind load in different directions on the working state of the inspection robot was analyzed， and the swing mathematical model of the inspection robot under transverse wind load was established. Finally，the fuzzy PID （proportional integral derivative） was applied to the control of the balancing mechanism， and the numerical simulation and prototype experiment of the inspection robot were carried out. The results showed that the designed balancing mechanism can effectively restrain the swing of the inspection robot under wind load.

Key words: inspection robot, wind load, swing model, balancing mechanism, fuzzy PID

CLC Number:

TH 133.3

Xiao-peng LI, Xue-dong LI, Xing FAN, Bing SHI. Analysis of Self-Balancing Mechanism of Transmission Line Inspection Robot Based on Fuzzy PID Control[J]. Journal of Northeastern University(Natural Science), 2025, 46(2): 76-84.

Figures/Tables 24

References 18

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参数	取值
m/kg	30
h₁/m	0.5
h₂/m	0.6
c₀/（N·s·m^-1）	10
g/（m·s^-2）	9.8

参数	取值
m/kg	30
h₁/m	0.5
h₂/m	0.6
c₀/（N·s·m^-1）	10
g/（m·s^-2）	9.8

角度误差变化率e_c	角度误差e
角度误差变化率e_c	NB	NM	NS	ZE	PS	PM	PB
NB	PB	PB	PM	PM	PS	PS	ZE
NM	PB	PM	PS	PS	NS	NS	ZE
NS	PM	PM	PS	PS	NS	NS	ZE
ZE	ZE	ZE	ZE	ZE	ZE	ZE	ZE
PS	NS	NS	NS	PS	NS	NM	NB
PM	NS	NS	NS	PS	PS	PM	PB
PB	PS	PS	NS	PB	PM	PB	PB

角度误差变化率e_c	角度误差e
角度误差变化率e_c	NB	NM	NS	ZE	PS	PM	PB
NB	PB	PB	PM	PM	PS	PS	ZE
NM	PB	PM	PS	PS	NS	NS	ZE
NS	PM	PM	PS	PS	NS	NS	ZE
ZE	ZE	ZE	ZE	ZE	ZE	ZE	ZE
PS	NS	NS	NS	PS	NS	NM	NB
PM	NS	NS	NS	PS	PS	PM	PB
PB	PS	PS	NS	PB	PM	PB	PB

角度误差变化率e_c	角度误差e
角度误差变化率e_c	NB	NM	NS	ZE	PS	PM	PB
NB	NB	NB	NB	NM	NM	ZE	ZE
NM	NB	NM	NS	ZE	PS	PS	PS
NS	PS	PS	PS	ZE	ZE	ZE	ZE
ZE	ZE	ZE	ZE	ZE	ZE	ZE	ZE
PS	PS	PS	PS	ZE	PS	PS	PM
PM	NB	NB	ZE	ZE	NS	NS	NS
PB	NB	NB	ZE	ZE	NS	NS	NS