Alhassan Ahmad Bala, Zhang Xiaodong, Shen Haiming, Xu Haibo, Hamza Khaled, Masengo Gilbert
School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China.
Shaanxi Province Key Laboratory of Intelligent Robot of Xi'an Jiaotong University, Xi'an, China.
Front Robot AI. 2022 Feb 24;9:746991. doi: 10.3389/frobt.2022.746991. eCollection 2022.
Intelligent robotic inspection of power transmission lines has proved to be an excellent alternative to the traditional manual inspection methods, which are often tedious, expensive, and dangerous. However, to achieve effective automation of the robots under different working environments, the dynamic analysis and control of the robots need to be investigated for an efficient inspection process. Nonetheless, the application of control techniques for the position, speed and vibration control of these robots has not been explored in detail by the existing literature. Thus, an approach for precise motion control of the sliding inspection robot is presented in this paper. The main contribution of the study is that the chattering problem associated with the traditional command shaping time delay control (TDC) was minimized by smoothing the chattered input signal. Then, the improved control (iTDC) which is effective for oscillation control is hybridized with a pole placement based feedback control (PPC) to achieve both position and the sway angle control of the robot. The nonlinear and the linearized models of the sliding robot were established for the control design and analysis. Three parameters of the robot, namely, the length of the suspended arm, the mass of the payload, and the friction coefficient of different surfaces, were used to assess the robustness of the controller to model uncertainties. The iTDC + PPC has improved the velocity of TDC by 201% and minimizes the angular oscillation of PPC by 209%. Thus, the results demonstrate that the hybridized iTDC + PPC approach could be effectively applied for precise motion control of the sliding inspection robot.
事实证明，输电线路智能机器人巡检是传统人工巡检方法的绝佳替代方案，传统人工巡检往往乏味、昂贵且危险。然而，为了在不同工作环境下实现机器人的有效自动化，需要研究机器人的动力学分析与控制，以实现高效巡检过程。尽管如此，现有文献尚未详细探讨这些机器人在位置、速度和振动控制方面控制技术的应用。因此，本文提出了一种滑动巡检机器人精确运动控制方法。该研究的主要贡献在于，通过平滑抖动的输入信号，将与传统指令整形时延控制（TDC）相关的抖动问题降至最低。然后，将对振荡控制有效的改进控制（iTDC）与基于极点配置的反馈控制（PPC）相结合，以实现机器人的位置和摆动角度控制。为了进行控制设计与分析，建立了滑动机器人的非线性和线性化模型。使用机器人的三个参数，即悬臂长度、负载质量和不同表面的摩擦系数，来评估控制器对模型不确定性的鲁棒性。iTDC + PPC使TDC的速度提高了201%，并使PPC的角振荡最小化了209%。因此，结果表明，混合iTDC + PPC方法可有效地应用于滑动巡检机器人的精确运动控制。
