电气设备激光除锈目标轨迹智能控制方法
Intelligent control method for target trajectory of laser rust removal in electrical equipment
戚乐 1于新海 1马斌畅1
作者信息
- 1. 河套学院,内蒙古 巴彦淖尔 015000;河套学院自动化研究与应用中心,内蒙古 巴彦淖尔 015000
- 折叠
摘要
常规电气设备激光除锈目标轨迹智能控制主要依托于激光视觉检测技术,但此方法缺少对激光光束数据曲率半径的计算,导致最终输出轨迹与期望轨迹之间的拟合度较低,控制效果不理想.为此,提出电气设备激光除锈目标轨迹智能控制方法.依据激光装置对电力设备进行除锈的作业原理,求取光束质心点的位置坐标,从而完成对激光光束的标定,结合锈蚀目标观测方程对激光光束数据进行加权融合,并采用高分辨率采样插补算法计算激光光束数据的曲率半径,基于此,设计双闭环控制结构的模糊控制器,进而实现对除锈目标轨迹的智能控制.实例应用结果显示,所提方法输出的目标轨迹与期望轨迹之间的拟合度较高,控制效果更好;针对不同腐蚀程度的电力设备样本,应用本方法进行除锈的除锈轨迹拟合度均高于 98%,除锈时间平均为10.1 min,能耗在1.7 至1.8 kWh之间,进一步说明了本方法的应用有效性.
Abstract
The intelligent control of laser rust removal target trajectory for conventional electrical equipment mainly relies on laser vision detection technology,but this method lacks calculation of the curvature radius of laser beam data,resulting in a low fit between the final output trajectory and the expected trajectory,and the control effect is not ideal.To this end,an intelligent control method for the target trajectory of electrical equipment laser rust removal is pro-posed.Based on the principle of rust removal of power equipment using laser devices,the position coordinates of the beam centroid point are obtained to complete the calibration of the laser beam.The laser beam data is weighted and fused using the observation equation of the rust target,and a high-resolution sampling interpolation algorithm is used to calculate the curvature radius of the laser beam data.Based on this,a fuzzy controller with a dual closed-loop control structure is designed,Furthermore,intelligent control of the rust removal target trajectory can be achieved.The exam-ple application results show that the proposed method has a high degree of fit between the target trajectory and the ex-pected trajectory,and the control effect is better.For the samples of power equipment with different corrosion degrees,the fitting degree of rust removal trajectory of the proposed method is higher than 98%,the average rust removal time is 10.1 min,and the energy consumption is between 1.7 and 1.8 kWh,which further demonstrates the application effec-tiveness of the proposed method.
关键词
电气设备/激光除锈/目标轨迹智能控制/期望轨迹Key words
electrical equipment/laser rust remov-al/intelligent control of target trajectory/expected traj-ectory引用本文复制引用
出版年
2024
NETL
NSTL
万方数据