| 引用本文: | 花国祥,尹书哲,潘莫寂,等.面向输电线路安全运维的机器人轨迹规划与控制策略研究[J].电力系统保护与控制,2025,53(20):131-140.[点击复制] |
| HUA Guoxiang,YIN Shuzhe,PAN Moji,et al.Research on trajectory planning and control strategy for transmission line inspection robots aimed at safe operation and maintenance[J].Power System Protection and Control,2025,53(20):131-140[点击复制] |
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| 摘要: |
| 耐张线夹螺栓松动是高压输电线路中金具脱落、电弧放电等安全隐患的诱因之一。针对现有输电线路巡检机器人螺栓紧固作业效率和操作精度均较低等问题，提出了一种改进的轨迹规划和轨迹跟踪控制方法。首先，通过3-5-3多项式插值进行轨迹规划，引入“速度暂停”机制、融合Levy飞行等多策略改进粒子群算法对轨迹进行优化，实现兼具轨迹时间最短与运动平滑性的规划。然后，设计了一种全局非奇异终端滑模控制结合超螺旋算法的控制器。经仿真验证，该方法在提升系统响应速度的同时抑制抖振。最后，实物实验进一步验证所提轨迹规划与控制方案，提高了输电线路机器人螺栓紧固作业效率和跟踪精度。 |
| 关键词: 输电线路机器人 轨迹规划 多策略改进粒子群算法 轨迹跟踪控制 滑模控制 |
| DOI：10.19783/j.cnki.pspc.250267 |
| 投稿时间：2025-03-16修订日期：2025-05-26 |
| 基金项目:国家自然科学基金项目资助(52177041) |
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| Research on trajectory planning and control strategy for transmission line inspection robots aimed at safe operation and maintenance |
| HUA Guoxiang1,2,YIN Shuzhe3,PAN Moji3,ZHENG Zhaorui2,HUANG Xing2,ZHAO Haisen1 |
| (1. School of Electrical and Electronic Engineering, North China Electric Power University, Beijing 102206, China;
2. School of Automation, Wuxi University, Wuxi 214105, China; 3. School of Automation,
Nanjing University of Information Science and Technology, Nanjing 210044, China) |
| Abstract: |
| Loose bolts in tension clamps are among the major causes of safety hazards such as hardware detachment and arc discharge in high-voltage transmission lines. To address the low efficiency and precision of bolt-tightening operations performed by existing transmission line inspection robots, an improved trajectory planning and tracking control method is proposed. First, trajectory planning is carried out using a 3-5-3 polynomial interpolation approach. A “velocity pause” mechanism is introduced, and the trajectory is optimized using a multi-strategy improved particle swarm algorithm incorporating Levy flight, achieving both minimal trajectory time and smooth motion. Then, a controller combining global nonsingular terminal sliding mode control with a super-twisting algorithm is designed. Simulation results verify that the proposed method improves system response speed while effectively suppressing chattering. Finally, the proposed trajectory planning and control scheme is further verified through physical experiments, demonstrating significant improvements in operation efficiency and tracking accuracy of transmission line robots during bolt-tightening tasks. |
| Key words: transmission line robot trajectory planning multi-strategy improved particle swarm optimization trajectory tracking control sliding mode control |
