International Journal of Advanced Robotic Systems | |
Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line | |
WeiJiang1  | |
关键词: Robot; manipulator; trajectory tracking; robust control; μ synthesis; | |
DOI : 10.1177/1729881418762278 | |
学科分类:自动化工程 | |
来源: InTech | |
【 摘 要 】
In a complex rigidâflexible coupling environment of overhead high-voltage transmission line, the manipulator robust trajectory tracking motion control of live maintenance robot is the premise of fulfilling the entire maintenance operations. In the process of manipulatorâs different function reconfigurable (drainage board bolt tightening and insulator strings replacement), in response to the shortage of excessive pursuit of robust stability for robot manipulator when using Hâ control, as it ignores the influence of structure changes caused by terminal reconfigurable on the system stability to a certain extent, the structured singular value theoryâbased robot robust μ synthesis control method was proposed in this article. The intrinsic relationship between structured singular value control (μ method) and Hâ control was elaborated, a general control model of the multi-arms and multi-actions robot system was established, the multifunction terminal reconfigurable live maintenance robot with its two kinds of operations was set as a research object, and the corresponding robot μ controller was designed. In the MATLAB development environment, simulation results have shown that on the premise of maintaining the robust stability, compared to the Hâ control method, μ control can obtain better performance robustness for the perturbation of its own structural changes in the process of different operation functions switch. Finally, the validity and engineering practicability of this method is verified by actual 220 kV live operation experiments.
【 授权许可】
CC BY
【 预 览 】
Files | Size | Format | View |
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RO201910256730096ZK.pdf | 1643KB | download |