Variable universe fuzzy control of walking stability for flying‐walking power line inspection robot based on multi‐work conditions

Abstract

To address complex work conditions incredibly challenging to the stability of power line inspection robots, we design a walking mechanism and propose a variable universe fuzzy control (VUFC) method based on multi-work conditions for flying-walking power line inspection robots (FPLIRs). The contributions of this paper are as follows: (1) A flexible pressing component is designed to improve the adaptability of the FPLIR to the ground line slope. (2) The influence of multi-work conditions on the FPLIR's walking stability is quantified using three condition parameters (i.e., slope, slipping degree and swing angle), and their measurement methods are proposed. (3) The VUFC method based on the condition parameters is proposed to improve the walking stability of the FPLIR. Finally, the effect of the VUFC method on walking stability of the FPLIR is teste. The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°. Compared with the constant pressing force of 30 N, the average value of slipping degree is 0.93°, increasing by 35%. The maximum and average values of robot's swing angle are reduced by 46% and 54%, respectively. By comparing with fuzzy control, the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR. The proposed walking mechanism and the VUFC method significantly improve the stability of the FPLIR, providing a reference for structural designs and stability controls of inspection robots.

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

“…Combining equation ( 13) and ( 15), the horizontal dynamic equation of the robot under lateral wind load can be obtained, as shown in equation (16).…”

“…Wind load is one of the main factors affecting the operation of live working robot serving in overhead transmission lines. Generally speaking, high altitude wind load can be divided into stable wind load 16,17 and pulsating wind load, 17,18 while the actual wind load is the random superposition of the above two kinds of wind loads. Stable wind load refers to the constant velocity direction and other physical quantities acting on the wind of the robot within a certain period of time, which usually causes the displacement or deflection motion of the object.…”

Research on variable universe fuzzy PID control for semi-active suspension with CDC dampers based on dynamic adjustment functions

“…Li et al designed the function contracting-expanding factor controller and proposed a variable universe fuzzy multi-parameter self-tuning PID control strategy for controlling the trolley's movement. The results indicate that the proposed control strategy exhibits good adaptive ability and robustness, which further improves the stability and safety of the bridge-type bridge crane operation 33 . Therefore, the variable universe fuzzy PID algorithm based on functional contracting-expanding factor is studied in this paper because it has fast system response and directly uses some special functions to design the contractingexpanding factor, avoiding the problem that the control performance of the fuzzy contracting-expanding factor is degraded due to the lack of perfect fuzzy rules.…”

“…12 and 13. And the RMS values of FSD, RSD, FTDL and RTDL controlled by In summary, the references 15,16,28,31,33,35,37 all used the specific functions to design the scaling factor controller. The references 11,17,18,32 all used the fuzzy reasoning to design the scaling factor controller.…”

“…The references 11,17,18,32 all used the fuzzy reasoning to design the scaling factor controller. We take references 32,33 as examples to compare and analyze their advantages and disadvantages with the proposed novel scaling factor controller in this paper. The analysis results are shown in Table 5.…”