机械与电子2026，Vol.44Issue(8)：58-64,7.
融合环境动态感知的风机叶片检测机器人分层抗风扰控制
Hierarchical Wind Disturbance Rejection Control for Wind Turbine Blade Inspection Robot with Dynamic Environmental Perception
摘要
Abstract
Addressing the issues of insufficient perception,control lag,and deterioration of the robot's conformal contact stability caused by the complex characteristics of turbulent wind fields and curved blade surfaces during high-altitude operations on wind turbine blades,this paper proposes a dynamic balance control method that integrates dynamic environmental perception and hierarchical wind anti-disturbance control.Real-time wind field parameters and geometric-physical features of the surface are acquired by multi-source sensors,and a coupled dynamic model of wind load and surface interaction is established.Based on a torque compensation mechanism and an adaptive position-tracking algorithm,the dynamic bal-ance control inputs are computed.At the upper layer,normal impedance control is employed to achieve pre-cise regulation of contact forces;at the lower layer,wind disturbance torque distribution is coordinated with centroid position adjustment to realize stable adhesion of the robot under coupled conditions of strong wind and complex curved surfaces.Test results demonstrate that,compared with the comparison methods,the proposed approach reduces the robot's average centroid offset to 1.02 mm,extends the effective wind re-sistance range to 0-25 m/s,and achieves a surface adhesion level of 0.97.These improvements significant-ly enhance the dynamic balance and adaptive adhesion capabilities of the robot under coupled wind disturb-ance and complex curved surface conditions.关键词
复杂曲面/风机叶片/检测机器人/抗风扰/动态平衡/机器人控制Key words
complex curved surface/wind turbine blade/inspection robot/wind disturbance resistance/dynamic balance/robot control分类
信息技术与安全科学引用本文复制引用
韩振华,李亚冬,胡振江,张皙..融合环境动态感知的风机叶片检测机器人分层抗风扰控制[J].机械与电子,2026,44(8):58-64,7.基金项目
南方电网科技项目(YNKJXM20240073) （YNKJXM20240073）
