Dynamic Modeling and Control of Inspection Robot Joint Drive System

摘要

During crossing obstacles and inspecting lines, an inspection robot for extra-high voltage power transmission lines will appear the phenomenon of jitter. This phenomenon is related not only to the external wind load but also to the flexibility of the inspection robot joint drive system. To reduce the jitter in the process of crossing the obstacle and crossing the obstacle, the PI control strategy is adopted to control the inspection robot joint drive system in this paper. The value of inertia of the inspection robot joint drive system is closely related to the inertia matrix of the dynamic equation of the inspection robot. Firstly the inertia matrix of the inspection robot is obtained by applying the Lagrange dynamics equation. Then the dynamic model of the inspection robot joint drive system is established. Through the state equation, the transfer function of motor speed to electromagnetic torque can be obtained. Furthermore, the parameters of the PI controller are designed by pole assignment strategies with the identical damping coefficients. Finally, numerical simulation results show that the jitter of the inspection robot can be reduced by designing PI controller parameters.