计算机工程与应用 ›› 2010, Vol. 46 ›› Issue (10): 190-192.DOI: 10.3778/j.issn.1002-8331.2010.10.060

• 工程与应用 • 上一篇    下一篇

高压输电线除冰机器人的建模及运动控制

张海霞,孙 炜,缪思怡   

  1. 湖南大学 电气与信息工程学院,长沙 410082

  • 收稿日期:2009-09-04 修回日期:2009-11-17 出版日期:2010-04-01 发布日期:2010-04-01
  • 通讯作者: 张海霞

Model building and motion control of deicing robot on high voltage transmission line

ZHANG Hai-xia,SUN Wei,MIAO Si-yi   

  1. College of Electrical and Information Engineering,Hunan University,Changsha 410082,China
  • Received:2009-09-04 Revised:2009-11-17 Online:2010-04-01 Published:2010-04-01
  • Contact: ZHANG Hai-xia

摘要: 针对高压输电线除冰机器人工作环境的特殊性以及工作任务的复杂性,建立了机器人的运动学与动力学模型。在此基础上,通过采用粒子群算法对PID控制器三个参数进行在线寻优,实现了除冰机器人的运动控制。最后针对除冰机器人在斜坡爬行的情况进行仿真实验,证明了所设计的模型与运动控制方法的可行性。

关键词: 除冰机器人, 粒子群算法, 运动控制, 建模

Abstract: Because of the particularity of working environment and the complicated conditions of assignment,the mathematic model is built based on the kinematics problems and the dynamic problems at first.In addition,the PSO is used to optimize the PID parameters on line.So that,the deicing robot is conducted real time control,is implied notion control.At last,a test is simulated,which is aiming at the deicing robot crawling on slope.And the result is proved that the correction of the model and the proposed motion control.

Key words: deicing robot, Partical Swarm Optimization(PSO), motion control, model building

中图分类号: