Abstract: To control the motion of the joints of deicing robot on power transmission line，an improved brushless DC motor control strategy is proposed，which utilizes PSO algorithm to optimize the parameters of PID controller with incomplete derivation instead of the traditional PID control.Three parameters of K_p，T_i，and T_d are overall optimized.The results of experiments show that the control performance of the proposed method is improved dramatically and is highly robust which can meet high-precision and real-time requirements of the deicing robot.

摘要： 针对输电线除冰机器人的关节运动，提出一种改进的无刷直流电机控制策略，利用粒子群算法优化不完全微分控制算法来代替传统的PID控制，对K_p、T_i、T_d进行全局优化。实验结果表明，该方法明显提高了控制性能，具有很强的鲁棒性，能够满足除冰机器人对控制系统高精度、实时性的要求。