CN115016560A - Advancing control method and advancing control device of intelligent robot for removing and changing wire - Google Patents
Advancing control method and advancing control device of intelligent robot for removing and changing wire Download PDFInfo
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- CN115016560A CN115016560A CN202210541003.0A CN202210541003A CN115016560A CN 115016560 A CN115016560 A CN 115016560A CN 202210541003 A CN202210541003 A CN 202210541003A CN 115016560 A CN115016560 A CN 115016560A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0018—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using neural networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
The invention provides a travel control method and a travel control device of an intelligent robot for removing and changing wires, wherein the method comprises the following steps: sensing the posture of the intelligent robot for removing and replacing wires by adopting a posture sensor, and acquiring the inclination of a wire at the position of the intelligent robot for removing and replacing wires according to the posture; calculating the jacking force required to be provided for the tensioning wheel set by the jacking device according to the inclination of the wire, and controlling the jacking device according to the jacking force; and controlling the speed of a driving motor corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network. The invention can quickly respond to external disturbance, improves the advancing control precision and the intelligent degree of the robot in a complex operation environment, and simultaneously can reduce the energy consumption of the robot and improve the continuous operation time and the practicability of the robot.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to a moving control method of an intelligent robot for removing and replacing wires and a moving control device of the intelligent robot for removing and replacing wires.
Background
The traditional power line replacement construction method has the problems of complex examination and approval, difficult coordination, high construction difficulty, high risk, long period, high cost and the like, and the efficiency and the quality of power grid maintenance are seriously influenced. With the rise of robotics and the level of intellectualization, the robot for changing wire machines starts to rise and gradually replaces manual and existing semi-automatic equipment. The creeling robot can automatically travel from one mast/tower side along the power line to be creeled to the other mast/tower side and be secured. And when the rope runs along the line, the automatic release of the hauling rope and the hook is completed to build the cableway.
At present, the robot for detaching and replacing the line has realized carrying the traction rope to walk on the power line, meanwhile, the hook is installed to form a cableway, and the detachment and replacement of the overhead line are completed by means of the cableway. However, in the field construction application of the wire removing and replacing robot, the problems of poor adaptability of a jacking mechanism in a complex environment, insufficient speed control precision caused by a complex environment and the like still exist.
Disclosure of Invention
In order to solve the above technical problems, a first object of the present invention is to provide a method for controlling the movement of an intelligent robot for removing and changing wires.
The second purpose of the invention provides a travel control device of the intelligent robot for removing and changing the wire.
The technical scheme adopted by the invention is as follows:
an embodiment of the first aspect of the present invention provides a method for controlling a line-changing intelligent robot to move, where the line-changing robot includes a fixed wheel set disposed above a conducting wire, a tensioning wheel set disposed below the conducting wire, and a jacking device for jacking the tensioning wheel set to provide a jacking force, and the method includes the following steps: sensing the posture of the intelligent robot for removing and replacing wires by adopting a posture sensor, and acquiring the inclination of a wire at the position of the intelligent robot for removing and replacing wires according to the posture; calculating the jacking force required by the jacking device to be provided for the tensioning wheel set according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force; and controlling the speed of a driving motor arranged corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF (Radial basis function) neural network.
The advancing control method of the intelligent robot for removing and changing the wire, provided by the invention, can also have the following additional technical characteristics:
according to an embodiment of the present invention, the attitude sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, wherein obtaining an inclination of a wire at a position where the intelligent robot with a wire removed therefrom according to the attitude specifically includes: calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass; fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead; and converting the attitude quaternion into an Euler angle.
According to an embodiment of the present invention, the method further includes: and correcting the switching function of the synovial membrane controller by using an RBF neural network.
According to an embodiment of the present invention, the method further includes: and optimizing the approaching law of the RBF network.
According to an embodiment of the present invention, the controlling the jacking device in a single closed loop manner according to the jacking force specifically includes: acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set; and outputting a control signal to an electric cylinder of the jacking device according to the difference value.
An embodiment of a second aspect of the present invention provides a travel control device for a wire-disconnecting and wire-changing intelligent robot, where the wire-disconnecting and wire-changing robot includes a fixed wheel set disposed above a conducting wire, a tensioning wheel set disposed below the conducting wire, and a jacking device for jacking the tensioning wheel set to provide a jacking force, and the device includes: the first acquisition module is used for sensing the gesture of the intelligent robot for detaching and replacing the wire by adopting a gesture sensor and acquiring the inclination of the wire at the position of the intelligent robot for detaching and replacing the wire according to the gesture; the first control module is used for calculating the jacking force required by the jacking device to be provided for the tensioning wheel set according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force; and the second control module is used for controlling the speed of the driving motor corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network.
The travel control device of the intelligent robot for removing and changing the wire, provided by the invention, can also have the following additional technical characteristics:
according to an embodiment of the present invention, the attitude sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, wherein the first control module is specifically configured to: calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass; fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead; and converting the attitude quaternion into an Euler angle.
According to an embodiment of the invention, the second control module is further configured to: and correcting the switching function of the synovial membrane controller by using an RBF neural network.
According to an embodiment of the invention, the second control module is further configured to: and optimizing the approaching law of the RBF network.
According to an embodiment of the present invention, the first control module is specifically configured to: acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set; and outputting a control signal to an electric cylinder of the jacking device according to the difference value.
The invention has the beneficial effects that:
the jacking force of the jacking device is controlled in a single closed-loop control mode, so that the jacking force of the jacking device can be adjusted according to environment and load changes, the environmental adaptability of the robot is improved, the speed control of a direct current brushless motor for the robot to advance is realized by introducing the RBF neural network into the synovial membrane controller, the robot can quickly respond to external disturbance, the advancing control precision and the intelligent degree of the robot in a complex operation environment are improved, and meanwhile, the energy consumption of the robot can be reduced, and the continuous operation time and the practicability of the robot are improved.
Drawings
Fig. 1 is a flowchart of a travel control method of an intelligent robot for wire removal and exchange according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent robot for removing and changing wires according to one embodiment of the invention;
FIG. 3 is a schematic illustration of statics analysis of an intelligent robot disconnecting and changing lines while ascending a slope according to one embodiment of the present invention;
fig. 4 is a block diagram schematically illustrating a travel control apparatus of the intelligent robot for wire removal and exchange according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Fig. 1 is a flowchart of a travel control method of an intelligent robot for wire removal and exchange according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an intelligent robot for removing and changing wires according to an embodiment of the invention.
As shown in fig. 2, the intelligent robot for removing and changing wires includes: the base 10, the jacking device 20, the fixed wheel set 30, the tension wheel set 40 and the driving motor 50. The base 10 is used for connecting with a robot body and is connected to the robot body through screws or buckles; the fixed wheel set 30 is connected with the base 10 through a connecting piece, and the fixed wheel set 30 can not rise and fall but can rotate freely without power; the fixed end of the jacking device 20 is connected with the base 10, the adjustable end adopts an electric cylinder structure, and can perform lifting movement according to needs, and certain pressure is generated on the overhead line between the fixed wheel set 30 and the tensioning wheel set 40 through the lifting movement of the adjustable end, so that enough friction force is generated by the rotation of the tensioning wheel set 40 to drive the robot body to move forward or backward along the overhead line. The tension wheel set 40 is connected to the adjustable end of the jacking device 20 and can rotate in two directions by being powered by the driving motor 50. The tension pulley block 40 rotates to allow the robot body to move forward or backward along the overhead wire 60 due to sufficient frictional force between the overhead wire and the hub. Considering the requirements of serialization, rapid assembly and the like of products, the drivers and the power supplies of the electric cylinder and the tensioning wheel driving motor of the jacking device 20 are placed in the base, a standard interface is reserved, and the drivers and the power supplies are connected to the relevant controllers through cables.
As shown in fig. 1, the method comprises the steps of:
and S1, sensing the posture of the intelligent robot for wire replacement by adopting a posture sensor, and acquiring the inclination of the wire at the position of the intelligent robot for wire replacement according to the posture.
Further, the attitude sensor can include triaxial gyroscope, triaxial accelerometer and triaxial electron compass, wherein, acquires the gradient of the wire of the line intelligent robot position department of changing according to the gesture, specifically includes: calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass; fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead; and converting the attitude quaternion into an Euler angle.
And S2, calculating the jacking force required to be provided to the tensioning wheel set by the jacking device according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force.
As shown in fig. 3, the statics analysis equation of the intelligent robot for removing and changing lines when the intelligent robot is on an uphill slope is as follows:
in the formula: α is the inclination of the wire 60, r w Is the angular velocity of the fixed wheel set 30; m is the mass of the intelligent robot for removing and changing the wire; g is gravity acceleration; v is the speed of the intelligent robot for removing and changing the wire; d 0 The distance between the front wheel and the rear wheel of the fixed wheel set 30 of the intelligent robot for removing and changing the lines; h is a total of 0 The perpendicular distance of the base 10 from the conductor, N f And N b The tension of the front wheel and the rear wheel of the tension wheel set 40 on the wire 60 respectively; f fs And F bs Static friction force borne by the front wheel and the rear wheel of the tension wheel set 40 of the intelligent robot for removing and changing the wire respectively; delta fs And delta bs Static friction coefficients of rolling of a front wheel and a rear wheel of the intelligent robot for removing and changing the wire are respectively; m fs And M bs The rolling friction torque applied to the front and rear wheels of the fixed wheel set 30 is negligible, i.e. M is considered to be fs ＝M bs ＝0。
From the above formula, it can be seen that, in the process of climbing a cable, when the driving torque is constant, the operation state of the intelligent robot for removing and replacing the cable is mainly influenced by friction, and the inclination of the wire and the supporting force provided by the jacking device to the tensioning wheel set are two main factors influencing the friction. Therefore, the jacking force required to be provided by the jacking device can be calculated through the inclination alpha of the conducting wire at the position of the robot.
Further, according to an embodiment of the present invention, the controlling the jacking device in a single closed loop manner according to the jacking force specifically includes: acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set; and outputting a control signal to the jacking device and the driving motor according to the difference value. A single closed loop control of the jacking device may be implemented using a PI (proportional-integral) controller.
And S3, controlling the speed of the driving motor corresponding to the tensioning wheel set by using a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network.
Specifically, an RBF neural network is introduced into a synovial membrane controller to realize the control of the traveling speed of the robot. The speed of a driving motor arranged corresponding to the tensioning wheel set is controlled by a synovial membrane controller, so that the walking speed of the robot is accurately controlled, and the robot has good robustness and complete adaptability to system parameter change and external interference.
Wherein, the position tracking error of the synovial controller can be expressed as: e (t) ═ x 1 ＝θ d - θ; wherein e (t) is a tracking error, and theta is an angle of the driving motor; theta d To set the angle.
When e → 0, the sliding mode face switching function s is as follows: x ═ s 2 +cx 1 C is greater than 0; wherein x is [ x ] 1 ,x 2 ] T Is the input of RBF neural network; c is a constant.
The RBF neural network is an advanced intelligent control algorithm, has strong self-learning, self-adaption and self-organization functions, has good application prospect in the aspect of processing the nonlinear and uncertain problems of a control system, and has good approximation capability, simple network structure and fast learning capability.
According to an embodiment of the present invention, the method further includes: and correcting a switching function of the synovial membrane controller by using an RBF neural network. The synovial membrane controller based on the RBF neural network corrects the switching function by using the neural network, so that the synovial membrane controller can quickly respond to external disturbance and timely adjust the input current of the brushless direct current motor.
The input of the neural network can change the weight value continuously after learning of the neural network, so that the output function
Approximating the non-linear function f (x) in the ideal case.
RBF network output
And the nonlinear functions f (x) in the ideal case are respectively as follows:
f(x)＝(a+Δa)θ d -(a+Δa)x 2 +(z+Δz)；
wherein h is f (x) Is a Gaussian function of the RBF neural network;
representing a weighting vector;
b is a damping coefficient, J is rotational inertia, T is moment, and L is a moment arm; and delta a and delta z are respectively the interference variation caused by the system internal parameter disturbance and the external load disturbance.
In order to further improve the buffeting problem of the self-adaptive sliding mode of the RBF network, the approach law of the RBF network is optimized, and the approach law after optimization is as follows:
mu and beta are preset in advance, s is an approach law,
for the optimized approach law, sgn is a step function, and an integer variable is returned to indicate the sign of the parameter.
The approaching law can be divided into a power part and an exponential part, when the distance between the motion point of the control system and the sliding mode surface is larger, the value of s is larger, at the moment, the exponential part and the power part simultaneously act, and the approaching speed is higher. When the power component approaches zero when s → 0, only the exponential component is active, and the effect of the step sign function sgns on jitter diminishes as the power component decreases. Therefore, the design approach law ensures the convergence rate and simultaneously makes the dynamic response of the control system more stable.
In summary, according to the method for controlling the moving of the intelligent robot with wire disconnection and replacement provided by the embodiment of the invention, the jacking force of the jacking device is controlled in a single closed-loop control mode, so that the jacking force of the jacking device can be adjusted according to environment and load changes, the environmental adaptability of the robot is improved, the speed control of the brushless direct current motor for moving the robot is realized by introducing the RBF neural network into the synovial membrane controller, the speed control can quickly respond to external disturbance, the moving control precision and the intelligent degree of the robot in a complex operation environment are improved, and meanwhile, the energy consumption of the robot can be reduced, and the continuous operation time and the practicability of the robot are improved.
Corresponding to the advancing control method of the intelligent robot for removing and changing the wire, the invention also provides an advancing control device of the intelligent robot for removing and changing the wire.
Fig. 4 is a block diagram of a travel control device of an intelligent robot for removing and replacing wires according to an embodiment of the present invention, as shown in fig. 1, the robot for removing and replacing wires includes a fixed wheel set disposed above a wire, a tension wheel set disposed below the wire, and a jacking device for jacking the tension wheel set to provide a jacking force, as shown in fig. 4, the device includes: the device comprises a first acquisition module 1, a first control module 2 and a second control module 3.
The first acquisition module 1 is used for sensing the posture of the intelligent robot for removing and changing wires by adopting a posture sensor and acquiring the inclination of a wire at the position of the intelligent robot for removing and changing wires according to the posture; the first control module 2 is used for calculating the jacking force required by the jacking device to be provided for the tensioning wheel set according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force; the second control module 3 is used for controlling the speed of the driving motor arranged corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network.
According to one embodiment of the present invention, the attitude sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, wherein the first control module is specifically configured to: calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass; fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead; and converting the attitude quaternion into an Euler angle.
According to an embodiment of the invention, the second control module is further configured to: and (4) correcting a switching function of the synovial membrane controller by using an RBF neural network.
According to an embodiment of the invention, the second control module is further configured to: and optimizing the approaching law of the RBF network.
According to an embodiment of the present invention, the first control module is specifically configured to: acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set; and outputting a control signal to an electric cylinder of the jacking device according to the difference value.
According to the advancing control device of the intelligent robot with the disconnecting and changing lines, the jacking force of the jacking device is controlled in a single closed-loop control mode, so that the jacking device can adjust the jacking force according to environment and load changes, the environmental adaptability of the robot is improved, the speed control of a direct current brushless motor for advancing the robot is realized by introducing the RBF neural network into the synovial controller, the device can quickly react to external disturbance, the advancing control precision and the intelligent degree of the robot in a complex operation environment are improved, and meanwhile, the energy consumption of the robot can be reduced, and the continuous operation time and the practicability of the robot are improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A moving control method of an intelligent robot for removing and replacing wires is characterized in that the robot for removing and replacing wires comprises a fixed wheel set arranged above a wire, a tensioning wheel set arranged below the wire and a jacking device used for jacking the tensioning wheel set to provide jacking force, and the method comprises the following steps:
sensing the posture of the intelligent robot for removing and replacing wires by adopting a posture sensor, and acquiring the inclination of a wire at the position of the intelligent robot for removing and replacing wires according to the posture;
calculating the jacking force required by the jacking device to be provided for the tensioning wheel set according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force;
and controlling the speed of a driving motor arranged corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network.
2. The method for controlling the traveling of the intelligent robot for wire replacement according to claim 1, wherein the attitude sensor comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and wherein acquiring the inclination of the wire at the position of the intelligent robot for wire replacement according to the attitude specifically comprises:
calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass;
fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead;
and converting the attitude quaternion into an Euler angle.
3. The travel control method of an intelligent robot for removing and changing wires according to claim 1, further comprising: and correcting the switching function of the synovial membrane controller by using an RBF neural network.
4. The travel control method for the intelligent robot for disconnecting and changing the wire according to claim 3, further comprising: and optimizing the approaching law of the RBF network.
5. The advancing control method of the intelligent robot for removing and changing lines according to claim 1, wherein the jacking device is controlled in a single closed loop mode according to the jacking force, and specifically comprises:
acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set;
and outputting a control signal to the jacking device according to the difference value.
6. The utility model provides a tear open controlling means that marchs of lane change intelligent robot which characterized in that, tear open lane change robot including set up fixed wheelset on the wire, set up in tensioning wheelset under the wire, be used for the jacking device of tensioning wheelset in order to provide jacking force, the device includes:
the first acquisition module is used for sensing the posture of the intelligent robot for removing and changing wires by adopting a posture sensor and acquiring the inclination of a wire at the position of the intelligent robot for removing and changing wires according to the posture;
the first control module is used for calculating the jacking force required by the jacking device to be provided for the tensioning wheel group according to the inclination of the wire, and controlling the jacking device in a single closed loop mode according to the jacking force;
and the second control module is used for controlling the speed of the driving motor corresponding to the tensioning wheel set by adopting a synovial membrane controller, wherein the synovial membrane controller comprises an RBF neural network.
7. The travel control device of the intelligent robot for disconnecting and changing wires according to claim 6, wherein the attitude sensor comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, wherein the first control module is specifically configured to:
calibrating the outputs of the three-axis gyroscope, the three-axis accelerometer and the three-axis electronic compass;
fusing the calibrated output through a complementary filtering algorithm or an extended Kalman algorithm to obtain an attitude quaternion representing the inclination of the lead;
and converting the attitude quaternion into an Euler angle.
8. The travel control device of an intelligent robot for disconnecting and changing wires according to claim 6, wherein the second control module is further configured to: and correcting the switching function of the synovial membrane controller by using an RBF neural network.
9. The travel control device of an intelligent robot for disconnecting and changing wires according to claim 7, wherein the second control module is further configured to: and optimizing the approaching law of the RBF network.
10. The travel control device of the intelligent robot for disconnecting and changing lines according to claim 6, wherein the first control module is specifically configured to:
acquiring a difference value between the jacking force required by the jacking device to be provided for the tensioning wheel set and the jacking force actually provided by the jacking device to the tensioning wheel set;
and outputting a control signal to the jacking device according to the difference value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210541003.0A CN115016560A (en) | 2022-05-17 | 2022-05-17 | Advancing control method and advancing control device of intelligent robot for removing and changing wire |
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| CN202210541003.0A CN115016560A (en) | 2022-05-17 | 2022-05-17 | Advancing control method and advancing control device of intelligent robot for removing and changing wire |
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| CN202210541003.0A Pending CN115016560A (en) | 2022-05-17 | 2022-05-17 | Advancing control method and advancing control device of intelligent robot for removing and changing wire |
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