机电工程技术2024，Vol.53Issue(7)：97-101,5.DOI:10.3969/j.issn.1009-9492.2024.07.020
绝缘子清洗机器人控制系统设计与实现
Design and Implementation of Control System for Insulator Cleaning Robot
祝昆 1何卓阳 1李衍庆 1丘丹 1郑岱岳1
作者信息
- 1. 广东电网能源发展有限公司,广州 510160
- 折叠
摘要
Abstract
Manual cleaning of insulators has low efficiency and high risk.Therefore,it is necessary to design an insulator cleaning robot to clean the insulator string instead of workers.Based on the horizontal suspended glass insulator as the target,combined with the cleaning function,a kind of insulator cleaning robot is designed.A closed-loop control system based on IDA-PBC is proposed for the robot's control system,and based on this,a robot balance control system model is established.The model construction,hardware selection,software implementation and human-computer interaction function of the system are given.Moreover,the simulation test conducted by ROS-Gazebo platform receives a maximum pitch angle of the robot at about 0.04 rad(4°),verifies the robustness of the model,and finally establishes the human-computer interactive control interface of the cleaning robot,which proposes a solution for improving the intelligence of insulator cleaning in the future.The equipment and related technologies have great application significance to the application of robot technology to power intelligence and relieving labor intensity,and bring certain reference value to the field of power maintenance.关键词
绝缘子清洗机器人/平衡系统/智能化清洗/闭环控制系统Key words
insulator cleaning robot/equilibrium system/intelligent cleaning/closed loop control system分类
信息技术与安全科学引用本文复制引用
祝昆,何卓阳,李衍庆,丘丹,郑岱岳..绝缘子清洗机器人控制系统设计与实现[J].机电工程技术,2024,53(7):97-101,5.
