Energy-saving and speed-control method for downhill inspection robot of UHV substation under spatial geometric constraints
The existing speed control methods for inspection robots lack consideration and the position changes of the robots themselves in practical use,which results in high energy consumption and large speed deviations.Therefore,a downhill energy-saving speed control method for ultra-high voltage substation inspection robots based on spatial geometric constraints is designed.Under the constraints of spatial geometry,feature points are extracted for matching,and a driving relationship model between the robot's working point trajectory and running speed is established based on the Lagrange equation.The energy-saving parameters of the motor are matched according to the maximum power constraint of the robot,and the downhill speed control method is designed.The experimental results show that this method has a certain improvement in the speed control accuracy and energy-saving effect of the inspection robot for ultra-high voltage substations under different working conditions.
spatial geometric constraintsUHV substationpatrol robotenergy saving and speed control
万方数据
维普
