Research on the adaptive control method of pre-landing for high voltage transmission line inspection robot based on multi-body transfer matrix method

Abstract

When the multi-mode inspection robot for high-voltage power transmission line is transitioning from flight mode to climb mode, it needs to control high-precision fixed-point flight for pre-landing line, so as to ensure the robot smooth landing of the line. At the high altitude flight, the wind disturbance and the high-speed rotating vibration of the large-size rotor have a great influence on the fixed-point flight control of the pre-landing line of the robot. Therefore, the vibration characteristics of the inspection robot system under the wind disturbance and rotor vibration need to be deeply analyzed. The high precision adaptive control of pre-landing line is realized according to its characteristics. Firstly, the vibration model of the inspection robot based on multi-body transfer matrix method is established. Secondly, the influence of wind disturbance and rotor vibration on the vibration characteristics of pre-landing gripper is analyzed. Thirdly, according to the vibration characteristics of the pre-landing line of the inspection robot, the PID (Proportional Integral Derivative) adaptive control system of the pre-landing rotor steering gear is constructed by using the radial basis function network structure. At last, the pre-landing adaptive control system under wind disturbance and rotor vibration is simulated and analyzed by the Matlab software. The results show that the PID adaptive control method based on the base function network can reduce the vibration of the pre-landing gripper of the inspection robot and meet the control requirements of the pre-landing. The research process provides a theoretical basis for the precise control of the robot landing and off the line.