Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

Abstract

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

“…In order to complete the established typical operation functions, according to whether the mechanical arm has independent movement. It can be divided into two-arm, 25,26 three-arm, 27,28 and four-arm 29,30 working mechanisms; according to different singlewire and multi-split circuit structures, it can be divided into wheel drive 31,32 and track drive 33,34 robot mobile platform mechanism. Through analysis, it can be seen that the mainstream of domestic and overseas power maintenance robot mechanism configuration is a multi-arm robot system composed of a walking arm and a working arm formed by a mobile robot walking on a transmission line and carrying a working manipulator.…”

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

“…erefore, the control goal of spacer bar replacement operation is to control the manipulator arm by dynamically selecting the motion parameters of robot's each joint so that it can continuously approach its ideal position from the initial position and attitude. e mathematical description of the posture error and the approximation target is shown in equation (14)- (16):…”

“…Another important way is to use the power cable robot as Xu et al [15] descript. At present, many different power cable robots, such as reference [16], proposed an insulator replacement robot, which is a wheel-arm compound robot walking on power transmission line and can complete replacement of insulators online. Jiang et al [17] proposed a damper replacement robot, which can service at 220 kv high-voltage line.…”

Hierarchical Reinforcement Learning Considering Stochastic Wind Disturbance for Power Line Maintenance Robot

“…Compared with the traditional proportional integral differential (PID) control, this algorithm has high real-time performance and good stability. Li Hongjun et al [9] derives the state space expression of joint motion control under the condition of disturbance and uncertainty, and establishes the trajectory tracking control model of the manipulator for sliding mode variable structure. The neural network learning method is used to compensate the influence of the perturbation control parameters on the motion control of the robot, and the stability of the controller is analyzed by using Lyapunov theory.…”