Synchronous control of the robot for repairing broken strands of overhead ground wires

Abstract

Abstract Abstarct. Overhead ground wire broken strand repair robot is a new type of electric robot, a complex multi-motor system. Therefore, the problem of synchronous control of each mechanism in the robot needs to be solved. A dual-layer sliding mode control strategy based on a cross-coupled synchronous control structure is proposed from the perspectives of mechanical structure synchronization and algorithm synchronization in this paper. Firstly, a global fast terminal sliding mode controller with single motor is designed for permanent magnet synchronous motor; Secondly, for the dual-motor system in the pre-twisted wire winding mechanism, a cross-coupling control structure is introduced. And a dual-motor synchronous compensation controller is designed in view of the fast non-singular terminal sliding mode combined with the new approximation law; Finally, the simulation verification in MATLAB, the results show that it has a certain improvement on the tracking error and synchronization error of the system. The anti-disturbance ability of the pre-twisted wire winding mechanism against uncertain loads is improved.