Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Author:

Yang Zhiyong12ORCID,Yan Kai12,Zhang Ziyu12,Duan Hua12,Liu Xing12,Li Yi12,Zhang Daode12,Yan Yu3,Fan Shaosheng4

Affiliation:

1. School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China

2. Hubei Key Laboratory Modern Manufacturing Quality Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China

3. Substation Intelligent Operation and Maintenance Experimental Laboratory, State Grid Hunan Ultra High Voltage Substation Company, Changsha 420100, China

4. School of Electrical Engineering, Changsha University of Science and Technology, Changsha 410114, China

Abstract

This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.

Funder

Hubei Provincial Science and Technology Innovative Talent Program Project

Hubei Provincial Department of Education Key Project

Open Fund of Hunan Provincial Key Laboratory of Intelligent Electricity-Based Operation Technology and Equipment

National Natural Science Foundation of China

Hubei Provincial Natural Science Foundation Innovation Group Project

China Construction West Construction Science and Technology Research and Development Project

China State Construction Engineering Corporation 2022 Annual Science and Technology Research and Development Project

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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