巡线机器人高精度稳定跟瞄技术研究
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摘要
高压输电线路的巡检是一项危险性大、劳动强度大、涉及面广的电力作业任务。迄今为止,主要依靠巡检人员沿线执行检测任务,成本高、效率低、误检漏检率大。巡线机器人提供了一套机器人作业系统,代替检测人员对线路进行检测和维护,提高了线路的管理和维护水平。
巡线机器人需要容纳多个模块,如电机、扫描器、控制板、无线模块、电源模块等,体积比较庞大。在其巡线的过程中,由于天气、机器人运行、高压线摆动与舞动等原因,使得应用于机器人系统的光学探测设备不能稳定的对需要探测的目标给予详细探测。从而影响了高压机器人巡线的质量,不能顺利完成对高压线路的图像采集,很难完成预定任务。
本文重点研究视轴稳定技术,物体凝视跟踪技术,主要包括被动减振和惯性稳定技术,精确跟踪与自适应调整伺服技术。惯性稳定环节是一个闭环伺服控制系统,伺服系统由直流力矩电机驱动,惯性陀螺仪做稳定探测。本文设计了电流环硬件PI调节电机驱动电路和以DSP为主控器件的的控制电路。为提高系统伺服带宽,本论文采用三环控制,为电流环、速度稳定环、位置环,电流环由硬件固化在驱动电路中。考虑到硬件实际需要和系统可靠性,扩展了电路保护功能、系统自检功能、各种故障处理功能,系统还采取了其他措施增强系统抗干扰能力,例如光电隔离、屏蔽、一点接地等措施。软件方面,稳定环采用了神经网络PID控制器,跟瞄系统采用双输入双输出耦合神经网络控制方式,对比传统神经网络控制方式单独控制方位/俯仰轴,此种方式对两轴耦合运动产生的非线性存在明显补偿作用。
论文最后建立了系统的数学模型以及验证实验,并对各种稳定方法及跟踪方法做了对比和仿真,仿真结果证实了新型控制算法在巡线机器人视觉系统中用具有良好的性能可满足巡线机器人视觉稳定跟踪系统二轴控制的需要。
High-voltage transmission line inspection is a dangerous, labor-intensive, involving a wide range of electrical work tasks. So far, mainly rely on inspection personnel perform inspection tasks along the high cost, low efficiency, leak check error rate is high. Line inspection robot provides a robot operating system, instead of testing personnel for line testing and maintenance, improved management and maintenance of the line level.
Inspection robot needs to accommodate multiple modules, such as motors, scanners, control panel, wireless module, power module, the volume is relatively large. In the course of its transmission line, due to the weather, the robot is running, high-voltage swing and dance and other reasons, making the robot system used in the optical detection equipment interference.
This paper focuses on the visual axis stabilization technology, object gaze tracking technology, including passive damping and inertial stabilization technology, precision tracking and adaptive servo technology. Stable part of the inertia, the paper designed a current loop PI regulator motor drive circuit hardware and DSP-based controller parts of the control circuit. To improve the system servo bandwidth, this paper uses three-ring control for the current loop, velocity loop stability, position loop, current loop driven by the hardware circuit in curing. Taking into account the actual needs of the hardware and system reliability, extend the circuit protection, the system self-test function, a variety of fault-handling capabilities. In addition, the system has also taken other measures to enhance the anti-jamming capability, such as optical isolation, shielding, grounding and other measures point. Software, using a neural network PID controller, there are many more advantages of the traditional PID controller, and do the relevant discussion.
Finally, the paper established a mathematical model and system verification experiments, and various methods of stabilization and tracking methods was compared and simulation results confirm that the new control algorithm in robot vision system using transmission line has a good performance to meet the patrol line robot vision stable two-axis tracking system control needs.
巡线机器人需要容纳多个模块,如电机、扫描器、控制板、无线模块、电源模块等,体积比较庞大。在其巡线的过程中,由于天气、机器人运行、高压线摆动与舞动等原因,使得应用于机器人系统的光学探测设备不能稳定的对需要探测的目标给予详细探测。从而影响了高压机器人巡线的质量,不能顺利完成对高压线路的图像采集,很难完成预定任务。
本文重点研究视轴稳定技术,物体凝视跟踪技术,主要包括被动减振和惯性稳定技术,精确跟踪与自适应调整伺服技术。惯性稳定环节是一个闭环伺服控制系统,伺服系统由直流力矩电机驱动,惯性陀螺仪做稳定探测。本文设计了电流环硬件PI调节电机驱动电路和以DSP为主控器件的的控制电路。为提高系统伺服带宽,本论文采用三环控制,为电流环、速度稳定环、位置环,电流环由硬件固化在驱动电路中。考虑到硬件实际需要和系统可靠性,扩展了电路保护功能、系统自检功能、各种故障处理功能,系统还采取了其他措施增强系统抗干扰能力,例如光电隔离、屏蔽、一点接地等措施。软件方面,稳定环采用了神经网络PID控制器,跟瞄系统采用双输入双输出耦合神经网络控制方式,对比传统神经网络控制方式单独控制方位/俯仰轴,此种方式对两轴耦合运动产生的非线性存在明显补偿作用。
论文最后建立了系统的数学模型以及验证实验,并对各种稳定方法及跟踪方法做了对比和仿真,仿真结果证实了新型控制算法在巡线机器人视觉系统中用具有良好的性能可满足巡线机器人视觉稳定跟踪系统二轴控制的需要。
High-voltage transmission line inspection is a dangerous, labor-intensive, involving a wide range of electrical work tasks. So far, mainly rely on inspection personnel perform inspection tasks along the high cost, low efficiency, leak check error rate is high. Line inspection robot provides a robot operating system, instead of testing personnel for line testing and maintenance, improved management and maintenance of the line level.
Inspection robot needs to accommodate multiple modules, such as motors, scanners, control panel, wireless module, power module, the volume is relatively large. In the course of its transmission line, due to the weather, the robot is running, high-voltage swing and dance and other reasons, making the robot system used in the optical detection equipment interference.
This paper focuses on the visual axis stabilization technology, object gaze tracking technology, including passive damping and inertial stabilization technology, precision tracking and adaptive servo technology. Stable part of the inertia, the paper designed a current loop PI regulator motor drive circuit hardware and DSP-based controller parts of the control circuit. To improve the system servo bandwidth, this paper uses three-ring control for the current loop, velocity loop stability, position loop, current loop driven by the hardware circuit in curing. Taking into account the actual needs of the hardware and system reliability, extend the circuit protection, the system self-test function, a variety of fault-handling capabilities. In addition, the system has also taken other measures to enhance the anti-jamming capability, such as optical isolation, shielding, grounding and other measures point. Software, using a neural network PID controller, there are many more advantages of the traditional PID controller, and do the relevant discussion.
Finally, the paper established a mathematical model and system verification experiments, and various methods of stabilization and tracking methods was compared and simulation results confirm that the new control algorithm in robot vision system using transmission line has a good performance to meet the patrol line robot vision stable two-axis tracking system control needs.
引文
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[5] J.Sawada, K.Kusumoto,T.Munakata. A mobile robot for inspection of power transmission lines.IEEE Transactions on Power Delivery. 1991,6(1):309~315.
[6] Shin-ichi Aoshima ,et al. A Wire Mobile Robot with Multi-Unit Structure[J], IEEE RSJ International Workshop on Intelligent Ro -bots and Systems [C]. 1989, 414-421.
[7] Ty SawadaJ,KusumotoK,Munakata T.A Mobile Robot for InsPection of Power Transmission Lines.In:Proc.of the 1991 IEEE,1991,JaPan:EI,1991:309~315
[8] Peungsungwal S., Pungsiri B., Chamnongthai K., Okuda M. Autonomous robot for a power transmission line inspection. Cricuits and Systems, 2001. ISCAS2001. The 2001 IEEE International Symposium, 2001.5, Vol.2:121-124.
[9] Robots repair and examine live lines in sever condition[J].Electrical world, 1989(5):71-72.
[10]Moutambault S ,Pouliot N. The HQ LineROVer: contributing to innovation in transmission line maintenance [A]. Proceedings of the 2003IEEE 10th International Conference on Transmission and Distribution Construction, Operation and Live-line Maintenance [ C ].2003:33 -40.
[11]张廷羽高压线巡检机器人的研究上海大学2008,8:18-25
[12]http://www.gzdlw.com/n3893c6.aspx
[13]http://www.dpspioneer.com/project/20101115.html
[14]李维赞,王吉岱,孙爱芹.输电线路巡检机器人的设计与控制系统研究.制造业自动化.2008,30(11):79一82
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[16]朱华征,范大鹏,马东玺,张文博.动载体光电成像系统视轴稳定精度研究.应用光学.2009 30(4):537~541
[17]周风余,吴爱国,李贻斌等,高压架空输电线路自动巡线机器人的研制,电力系统自动化,2004.12, 28(23): 89-91.
[18] http://www.sgcc.com.cn/xwzx/mtbd/106461.shtml
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[20]李振宇.22OKV高压输电线路巡线机器人控制系统的研制[D].湖北武汉:武汉大学,2005
[21]付双飞,王洪光,房立金,姜勇.超高压输电线路巡检机器人越障控制问题的研究[J].机器人,2005,27(4):341一345
[22]周风余,李贻斌,等.高压巡线机器人的设计与实现团.机械科学与技术,2006,25(5):623一626.
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[28]王合龙,朱培申,姜世发.陀螺稳定平台框架伺服系统变结构控制器的设计和仿真.电光与控制,1998,2.
[29]齐文彬机载光电稳瞄伺服系统建模与仿真.长春理工大学.2006,12:26-30
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[31]曹实实.数字化平台稳定回路的分析与设计[D].哈尔滨:哈尔滨工程大学出版社,2006
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[37]杨淑莹.vc-图像处理程序设计.北京:清华大学出版社,北京交通大学出版社,2005.
[38]贾云得.机器视觉[M].北京:科学出版社, 2003: 71-72
[39]章毓晋.图像处理和分析[M].北京:清华大学出版社, 1999: 32-33, 256-278
[40]赵群力.现代战斗机的“火眼金睛”—导航/瞄准吊舱.航空周刊.2001(1):27一29页
[41]李文魁,王俊璞,金志华,田蔚风.直升机机载光电吊舱的发展现状及对策.中国惯性技术学报.2004,12(5):75一80页
[42]郝煦.前视红外瞄准吊舱的最新发展.中国航天.2002,4:39一41页
[43]齐文斌,机载光电稳瞄伺服系统建模与仿真,长春理工大学硕士论文,2006年12月
[44]何昆.基于DPS的PWM变频调速系统的研究[D],2002
[45]纪世华,红外传感器瞄准线的稳定.舰船光学,1993,2.
[46]彭启琼等著,DSP技术的发展与应用,高等教育出版社,2002,9:10-15
[47]王晓明,王玲.电动机的DSP控制—TI公司DSP应用〔M」.北京:北京航空航天大学出版社,2004年7月
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[2]赵鹏,邓春应用直升飞机巡检输电线路.华北电力技术. 2002.(10):1-4.
[3]周风余,吴爱国,李贻斌等,高压架空输电线路自动巡检机器人的研制,电力系统自动化, 2004(23), 89~91
[4] Kobayashi H, Nakamura H, Shimada T. An inspection robot for feeder cables-basic structure and control. Proceedings of IECON '91, 1991 International Conference on Industrial Electronics, Control and Instrumentation.Kobe Japan: 1991:992~995.
[5] J.Sawada, K.Kusumoto,T.Munakata. A mobile robot for inspection of power transmission lines.IEEE Transactions on Power Delivery. 1991,6(1):309~315.
[6] Shin-ichi Aoshima ,et al. A Wire Mobile Robot with Multi-Unit Structure[J], IEEE RSJ International Workshop on Intelligent Ro -bots and Systems [C]. 1989, 414-421.
[7] Ty SawadaJ,KusumotoK,Munakata T.A Mobile Robot for InsPection of Power Transmission Lines.In:Proc.of the 1991 IEEE,1991,JaPan:EI,1991:309~315
[8] Peungsungwal S., Pungsiri B., Chamnongthai K., Okuda M. Autonomous robot for a power transmission line inspection. Cricuits and Systems, 2001. ISCAS2001. The 2001 IEEE International Symposium, 2001.5, Vol.2:121-124.
[9] Robots repair and examine live lines in sever condition[J].Electrical world, 1989(5):71-72.
[10]Moutambault S ,Pouliot N. The HQ LineROVer: contributing to innovation in transmission line maintenance [A]. Proceedings of the 2003IEEE 10th International Conference on Transmission and Distribution Construction, Operation and Live-line Maintenance [ C ].2003:33 -40.
[11]张廷羽高压线巡检机器人的研究上海大学2008,8:18-25
[12]http://www.gzdlw.com/n3893c6.aspx
[13]http://www.dpspioneer.com/project/20101115.html
[14]李维赞,王吉岱,孙爱芹.输电线路巡检机器人的设计与控制系统研究.制造业自动化.2008,30(11):79一82
[15]郭富强,于波,汪叔化.陀螺稳定装置及其应用.西北工业大学出版社, 1995
[16]朱华征,范大鹏,马东玺,张文博.动载体光电成像系统视轴稳定精度研究.应用光学.2009 30(4):537~541
[17]周风余,吴爱国,李贻斌等,高压架空输电线路自动巡线机器人的研制,电力系统自动化,2004.12, 28(23): 89-91.
[18] http://www.sgcc.com.cn/xwzx/mtbd/106461.shtml
[19]王鲁单,王洪光等一种输电线路巡线机器人控制系统的设计与实现[J].机器人,2007,29(l):267一268
[20]李振宇.22OKV高压输电线路巡线机器人控制系统的研制[D].湖北武汉:武汉大学,2005
[21]付双飞,王洪光,房立金,姜勇.超高压输电线路巡检机器人越障控制问题的研究[J].机器人,2005,27(4):341一345
[22]周风余,李贻斌,等.高压巡线机器人的设计与实现团.机械科学与技术,2006,25(5):623一626.
[23]石红生,卢广山.一种新型状态观测器在陀螺稳定平台中的应用.电光与控制,1999,1.
[24]孙隆和,吴广山.机载光电探测、跟踪、瞄准系统技术分析及发展研究[J].电光与控制,1995(2).
[25]于波,陈云相,郭秀中,惯性技术,北京航空航天大学出版社,1994.8
[26]王承瑶.陀螺稳定系统.国防工业出版社, 1985:35-38
[27]姬伟,李奇.陀螺稳定平台私服系统非线性特性补偿控制.电气传动. 2005,35(7):31-34
[28]王合龙,朱培申,姜世发.陀螺稳定平台框架伺服系统变结构控制器的设计和仿真.电光与控制,1998,2.
[29]齐文彬机载光电稳瞄伺服系统建模与仿真.长春理工大学.2006,12:26-30
[30]毕水利,刘沟,葛文奇等。机载多框架陀螺稳定平台速度稳定环设计.光电工程.2004,第31卷,第2期,16~18
[31]曹实实.数字化平台稳定回路的分析与设计[D].哈尔滨:哈尔滨工程大学出版社,2006
[32]南京航空学院航空陀螺仪编写组.航空陀螺仪原理.北京:国防工业出版社,1981.
[33]纪明.多环架光电稳定系统及分析.应用光学,1994,3.
[34]周宏仁,敬忠良,王培德.机动目标跟踪.国防工业出版社1991.
[35]高宏昌.机载电视瞄准线稳定系统仿真研究与实施.电光与控制,1992,3.
[36]朱虹等.数字图像处理基础[M].北京:科学出版社, 2005: 86—92
[37]杨淑莹.vc-图像处理程序设计.北京:清华大学出版社,北京交通大学出版社,2005.
[38]贾云得.机器视觉[M].北京:科学出版社, 2003: 71-72
[39]章毓晋.图像处理和分析[M].北京:清华大学出版社, 1999: 32-33, 256-278
[40]赵群力.现代战斗机的“火眼金睛”—导航/瞄准吊舱.航空周刊.2001(1):27一29页
[41]李文魁,王俊璞,金志华,田蔚风.直升机机载光电吊舱的发展现状及对策.中国惯性技术学报.2004,12(5):75一80页
[42]郝煦.前视红外瞄准吊舱的最新发展.中国航天.2002,4:39一41页
[43]齐文斌,机载光电稳瞄伺服系统建模与仿真,长春理工大学硕士论文,2006年12月
[44]何昆.基于DPS的PWM变频调速系统的研究[D],2002
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