Synchronous control of dual travelling wheels for transmission line clearance flying robot
Traditional foreign object removal operations from overhead transmission lines by drones are easily affected by environmental factors.The operations are difficult and there are many disturbances.This paper proposes a solution to solve this problem by designing a high-altitude operation drone hanging-wire walking control mechanism.Firstly,based on the environment of the power transmission line and the operating mode of the drone,a hanging-wire walking mechanism is designed to reduce the impact of flight operation disturbances on the drone during high-altitude operations.Secondly,in response to the problem of synchronization errors in the dual-wheeled walking speed of the obstacle-clearing robot,a motor synchronization control strategy based on back propagation-proportional-integral-differential(BP-PID)master-slave fusion deviation coupling is proposed.Through simulation and physical experiments,it is demonstrated that the dual-wheeled walking synchronization control algorithm proposed in this paper can effectively solve the problem of motor speed instability caused by load and the disturbance of the high-altitude operation drone due to environmental factors.
transmission lineobstacle clearanceaerial robotmaster-slave controldeviation couplingback propagation-proportional-integral-differentialsynchronization control
国家科技期刊平台
NSTL
万方数据
维普
