半结构环境中电力作业机器人机械手鲁棒轨迹跟踪控制
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摘要
在输电线路高电压、强电磁干扰的恶劣半结构环境下,为有效抑制扰动信号及各种不确定性因素对电力作业机器人机械手轨迹跟踪精度和运动稳定性的影响,提出了一种基于H∞控制理论的机器人机械手鲁棒轨迹跟踪运动控制方法.通过机器人控制体系结构的分层,利用拉格朗日法并结合关节电机电枢电压方程对机器人的不同动力学行为进行了动力学建模,获取了机器人动力学行为和动力学参数的映射模型,在此基础上推导出了扰动及不确定性因素情况下关节运动控制的状态空间表达式,并以此构建立了机械手H∞轨迹跟踪控制模型,利用线性矩阵不等式(LMI)求解了相应的轨迹跟踪H∞控制器,最后通过仿真实验验证了H∞控制的有效性.现场作业试验进一步验证了该控制方法的工程实用性,同时该控制方法具有通用性好、适应性强、易于扩展的显著特性.
In order to effectively suppress the influence of disturbance signals and a variety of uncertainties on tracking precision and stability of manipulator for transmission line electric power operation robot in a harsh semi-structured environment with high voltage and strong electromagnetic interference, a robot manipulator trajectory tracking robust control method based on H∞ control theory was proposed in this paper. Firstly, layering robot control architecture, the different dynamic behaviors of robot were modeled based on Lagrange method and armature voltage equation, obtaining a mapping model of robot kinetic behaviors and kinetic parameters. Then on this basis, the space state expression of the manipulator joint motion control under the condition of disturbances and uncertainties was deduced, a manipulator motion H∞ control model was established, and the control system H∞ controller for manipulator trajectory tracking was also solved with linearity matrix inequality(LMI). Finally, the simulation and field operation experiments were carried out. The results show the effectiveness of the H∞ control, the engineering feasibility of the control method, and the remarkable characteristics in sound universality, adaptability and easy expansion.
In order to effectively suppress the influence of disturbance signals and a variety of uncertainties on tracking precision and stability of manipulator for transmission line electric power operation robot in a harsh semi-structured environment with high voltage and strong electromagnetic interference, a robot manipulator trajectory tracking robust control method based on H∞ control theory was proposed in this paper. Firstly, layering robot control architecture, the different dynamic behaviors of robot were modeled based on Lagrange method and armature voltage equation, obtaining a mapping model of robot kinetic behaviors and kinetic parameters. Then on this basis, the space state expression of the manipulator joint motion control under the condition of disturbances and uncertainties was deduced, a manipulator motion H∞ control model was established, and the control system H∞ controller for manipulator trajectory tracking was also solved with linearity matrix inequality(LMI). Finally, the simulation and field operation experiments were carried out. The results show the effectiveness of the H∞ control, the engineering feasibility of the control method, and the remarkable characteristics in sound universality, adaptability and easy expansion.
引文
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[19] Wang Peng,Liu Feng,Mei Shengwei,et al.Control system construction and action controller of high voltage transmission line inspection robot [J].Journal of Tsinghua University :Natural Science ed,2011,51(7):921- 927.
[20] Liu X,Li S.An electromagnetic microvalve for pneumatic control of microfluidic systems.[J].Journal of Laboratory Automation,2014,19(5):444-453.
[2] Ramirez D,Ma Y B,Bedir S,et al.Introduction of a LIDAR-based obstacle detection system on the LineScout power line robot[J].Journal of Endourology,2014,28(3):330-334.
[3] Singh J,Gandhi K,Kapoor M,et al.New approaches for live wire maintenance of transmission lines[J].MIT Int J Electr Instrum Eng,2013,3(2):67-71.
[4] Banthia V,Maddahi Y,Balakrishnan S,et al.Haptic-enabled teleoperation of base-excited hydraulic manipulators applied to live-line maintenance[C]//Proceedings of Intelligent Robots and Systems (IROS 2014),2014 IEEE/RSJ International Conference on.[S.l.]:IEEE,2014:1222-1229.
[5] Wang Xi,Yu Zhangqing,He Jinliang.Breakdown process experiments of 110～500kV insulator strings under short tail lingtning impulse [J].IEEE Transactions on Power Delivery,2014,5(29):2394-2401.
[6] Pouliot N,Mussard D,Montambault S.Localization and archiving of inspection data collected on power lines using LineScout technology[C]//Proceedings of Applied Robotics for the Power Industry (CARPI).[S.l.]:IEEE,2012:197-202.
[7] Buehringer M,Berchtold J,Buchel M,et al.Cable-crawler-robot for the inspection of high-voltage power lines that can passively roll over mast tops[J].Industrial Robot-an International Journal,2010,37 (3):256-262.
[8] Montambault S,Pouliot N,Lepage M.On the latest field deployments of LineScout technology on live transmission networks[C]//Proceedings of Applied Robotics for the Power Industry (CARPI).[S.l.]:IEEE,2012:126-127.
[9] Kim Y H,Lewis F L,Dawson D M.Intelligent optimal control of robotic manipulators using neural networks[J].Automatica,2015,36(9):1355-1364.
[10] Sun C,He W,Hong J.Neuralnetwork control of a flexible robotic manipulator using the lumped spring-mass model[J].IEEE Transactions on Systems Man & Cybernetics Systems,2017,47(8):1863-1874.
[11] Zhao Haoquan,Feng Xisheng,Liu Kaizhou.Robust control of underwater robot based on mixed sensitivity [J].Instrument Technology:Natural Science ed,2007,28(8):606-609.
[12] Liu Kaizhou,Guo Wei,Wang Xiaohui,et al.Research on the structure singular value robust control of underwater vehicle [C]//Proceedings of the 8th World Congress on Intelligent Control and Automation.Jinan,China:[s.n.],2010:6-9.
[13] Li Q,Liang L,Liu F,et al.The application of adaptive backstepping sliding mode for hybrid humanoid robot arm trajectory tracking control[J].Advances in Mechanical Engineering,2014(1):730-735
[14] Khaloozadeh H,Homaeinejad M R.Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot[J].Journal of Mechanical Science and Technology,2014,24(6):1337-1351.
[15] Bouakrif F,Zasadzinski M.Trajectory tracking control for perturbed robot manipulators using iterative learning method [J].International Journal of Advanced Manufacturing Technology,2016,46(2):209-217.
[16] Huang S A ,Chiang L A .Robust trajectory tracking design of unmanned aerial vehicles via nonlinear mixed H2/H∞ control method[C]//Proceedings of Control Conference.[S.l.]:IEEE,2015.
[17] Galeani S,Menini L,Potini A.Robust trajectory tracking for a class of hybrid systems[J].IEEE Transactions on Automatic Control,2012,57(2):344-359.
[18] Kayacan E,Ramon H,Saeys W.Robust trajectory tracking error-based model predictive control for unmanned ground vehicles[J].IEEE/ASME Transactions on Mechatronics,2015,21(2):1-5.
[19] Wang Peng,Liu Feng,Mei Shengwei,et al.Control system construction and action controller of high voltage transmission line inspection robot [J].Journal of Tsinghua University :Natural Science ed,2011,51(7):921- 927.
[20] Liu X,Li S.An electromagnetic microvalve for pneumatic control of microfluidic systems.[J].Journal of Laboratory Automation,2014,19(5):444-453.