In order to ensure the safe operation of the high-voltage transmission line inspection robot in the absence of electricity downhill,and to extend its range time after charging,this paper proposes the fuzzy PID control of the inspection robot walking wheel motor downhill energy-saving speed regulation method.This paper combines the parametric equations of overhead conductors and the structural characteristics of overhead transmission lines to analyze the relationship between the driving torque of the inspection robot's wheel and the horizontal displacement before and after descending along the transmission ground line,so as to realize the energy-saving speed control of the inspection robot's rear walking wheel.Simulation results show fuzzy PID control can better regulate the speed of the robot under different slope conditions.And the fuzzy PID control is good in terms of energy recovery efficiency.
关键词
高压输电线路/巡检机器人/速度控制/模糊PID控制
Key words
high voltage transmission line/inspection robot/speed control/fuzzy PID control
维普
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