Robust stabilization control of live working robot under wind load based on angular momentum conservation principle

Abstract

In respond to the problem that the live working robot is easy to be affected by wind load in the process of field high altitude operation, which result in robot body rolling with poor stability and low operation efficiency, a robot momentum wheel balance control method under wind load action based on the principle of angular momentum conservation has been proposed in this paper. The moment generated by the rotation of the momentum wheel is used to offset the wind load moment so as to realize the robot online balance control. Through the analysis of the influence mechanism for the live working robot on the wind load, the coupling relationship model of three kinds typical parameters namely, wind force, robot rolling angle, and momentum wheel drive moment have been established. Based on the virtual prototype size of the live working robot, the physical model of the momentum wheel device is established and the dynamic model of robot balance system under the wind load is established by Lagrange method. Finally, the disturbance environment of the robot under the wind load action in ADAMS and MATLAB-SIMULINK software, a fuzzy PID controller has been adopt to control the robot online in real time wind load. Compared with computational torque control and gravity compensation control, the simulation result show that the momentum wheel balance can reduce the rolling angle under the wind load and keep the robot in a balance posture with strong robustness. The research of this paper has important theoretical significance and practical application value for promoting the practical application of robot in actual wind load operation environment.