Research on Magnetic Actuation Mechanism and PI Sliding Mode Control of Soft Inspection Robot for High Voltage Transmission Line
In order to solve the problems of large size,bulky weight,inflexibility in crossing obstacles and low efficiency of rigid cantilever inspection robot for high voltage transmission line,a high voltage magnetic-actuated soft inspection robot was designed.The amperage force of the current carrying coil in the high voltage DC ring magnetic field was used to drive the soft robot to cross multiple obstacles efficiently and flexibly in a supple and creeping manner.The body configuration of the robot was designed and its working pos-ture was analyzed to achieve a stable inspection function.The theoretical design and analysis of the magnetically actuated drive was car-ried out and the required drive force was simulated using Comsol simulation software to verify the theoretical implementation.Then,the dynamics model of the high voltage magnetic-actuated soft inspection robot was made by the Lagrangian method,the system dynamics equations were constructed to obtain the relationship between the joint angle,velocity and acceleration of the robot.Finally,by using the PI sliding mode control method in MATLAB,the simplified dynamic model of the high voltage magnetic-actuated soft inspection robot was simulated with high precision in velocity and angular velocity tracking.The simulation results indicate that the angle tracks the ideal signal within 1.5s and the angular velocity catches up with the ideal signal after 0.3 s under sliding mode control,proving that a sliding mode controller based on PI can effectively control the high voltage magnetic-actuated soft inspection robot.
high voltage transmission linesoft inspection robotsmagnetic actuationdynamics modellingPI sliding mode control
万方数据
维普
