智能系统学报2023，Vol.18Issue(6)：1243-1258,16.DOI:10.11992/tis.202211011
飞走巡线机器人多模式切换混杂控制方法
Hybrid control method of multimode switching for flying-walking power-line inspection robots
摘要
Abstract
The stability and reliability of power-line inspection robots are greatly affected by harsh environments,com-plex working conditions,and flexible characteristics of the power line.Therefore,a hybrid automata model of mul-timode switching is proposed for flying-walking power-line inspection robots(FPLIRs).Herein,a hybrid automata mod-el and multimode-switching monitoring model for four control modes were established based on the operating prin-ciples of FPLIR inspection,and the Lyapunov function method and force-angle stability margin were used to analyze the stability of multimode switching and mechanical properties.Based on the control objective of each mode,correspond-ing control strategies were proposed.In particular,combined with the structure and working condition characteristics of FPLIRs,the variable universe fuzzy controller and model prediction controller were designed to improve the stability of FPLIRs walking along a line and the safety of FPLIR flight-line falling,respectively.Finally,the effectiveness and feas-ibility of the multimode switching hybrid control method were verified through simulations and experiments.The adapt-ability of FPLIRs in complex power-line environments was improved,providing a theoretical reference for future intelli-gent inspection using robots.关键词
电力线/飞走巡线机器人/多模式切换/混杂控制/自动机/监测器/变论域模糊控制/模型预测Key words
power line/flying-walking power-line inspection robot/multimode switching/hybrid control/automata/monitoring/variable universe fuzzy control/model predictive分类
信息技术与安全科学引用本文复制引用
秦新燕,李惠东,冯天明,雷金,李博,李兆钧,张杰,王艳琦,贾文兴..飞走巡线机器人多模式切换混杂控制方法[J].智能系统学报,2023,18(6):1243-1258,16.基金项目
国家自然科学基金项目(62163032,62063030) （62163032,62063030）
兵团财政科技计划(2021DB003,2022CB011,2022CB002-07) （2021DB003,2022CB011,2022CB002-07）
兵团九师科技专项(2021JS008). （2021JS008）
