[1]原 玮.强反冲环境下超高压水射流清洗机器人模糊PID 轨迹跟踪控制[J].机械与电子,2026,44(09):57-65.
　YUAN Wei.Fuzzy PID Trajectory Tracking Control for Ultra-high-pressure Water-jet Cleaning Robots in Strong Recoil Environments[J].Machinery & Electronics,2026,44(09):57-65.
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强反冲环境下超高压水射流清洗机器人模糊PID 轨迹跟踪控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年09期
页码:
57-65
栏目:
机器人技术
出版日期:
2026-09-25

文章信息/Info

Title:
Fuzzy PID Trajectory Tracking Control for Ultra-high-pressure Water-jet Cleaning Robots in Strong Recoil Environments
文章编号:
1001-2257(2026)09-0057-09
作者:
原 玮
河南送变电建设有限公司,河南 郑州 450051
Author(s):
YUAN Wei
(Henan Electric Power Transmission and Transformation Construction Co.,Ltd.,Zhengzhou 450051,China)
关键词:
超高压水射流清洗机器人; 多传感器融合; 改进蚁群算法; 模糊PID; 轨迹跟踪控制
Keywords:
ultra-high-pressure water-jet cleaning robot; multi-sensor fusion; improved ant colony algorithm; fuzzy PID; trajectory tracking control
分类号:
TP242
文献标志码:
A
摘要:
针对超高压水射流清洗机器人在强反冲环境下传感信息易畸变、全局路径搜索盲目及轨迹跟踪抗扰性差,进而导致清洗轨迹偏离与作业质量劣化的问题,提出强反冲环境下超高压水射流清洗机器人模糊比例积分微分(PID)轨迹跟踪控制。首先,针对传感信息畸变问题,采用均值滤波逐角度融合激光雷达与深度相机数据得到有效距离值,运用扩展卡尔曼滤波融合轮式里程计与惯性测量单元数据获得位姿估计,基于融合结果采用同步定位与建图(SLAM)算法构建静态二维栅格地图;其次,基于栅格地图,引入基于Hocaoglu算法思想的引导函数与自适应信息素更新改进蚁群算法,经贝塞尔曲线平滑处理,生成全局最短光滑清洁路径;最后,设计模糊PID控制器,以规划生成的路径点序列为期望输入,计算偏差及偏差变化率,通过模糊推理调整比例系数、积分系数、微分系数,并采用重心法解模糊得到参数修正量,实现清洗轨迹的跟踪控制。实验结果表明,所提方法能够获得光滑无障碍的最短路径并实现精确跟踪控制,其最大跟踪误差为0.031 m,上升时间缩短至0.65 s,有效提升了清洁工作的质量和效率。
Abstract:
To address the problems of distorted sensor information,blind global path searching,and poor disturbance rejection in trajectory tracking for ultra-high-pressure water-jet cleaning robots operating in strong recoil environments,which consequently lead to cleaning trajectory deviations and deteriorated operational quality,a fuzzy proportional-integral-derivative (PID) trajectory tracking control method for such robots under strong recoil environments is proposed.Firstly,to tackle sensor information distortion, mean filtering is employed to fuse laser radar and depth camera data at each angular step to obtain valid distance measurements,while extended Kalman filtering is applied to fuse wheel odometer and inertial measurement unit data for pose estimation.Based on the fusion results,a simultaneous localization and mapping (SLAM) algorithm is adopted to construct a static two-dimensional grid map.Secondly,based on the grid map,an improved ant colony algorithm incorporating a guidance function inspired by the Hocaoglu algorithm and adaptive pheromone update is introduced,and the resulting path is smoothed via Bézier curve processing to generate a globally shortest and smooth cleaning path.Finally,a fuzzy PID controller is designed,taking the planned path point sequence as the desired input,computing the error and its rate of change,adjusting the proportional,integral,and derivative gains through fuzzy inference,and employing center-of-gravity method for the defuzzification to obtain parameter corrections,thereby achieving tracking control of the cleaning trajectory.Experimental results demonstrate that the proposed method can obtain a smooth and obstacle-free shortest path and achieve precise tracking control,with a maximum tracking error of 0.031 m and a reduced rise time of 0.65 s,effectively improving the quality and efficiency of the cleaning operation.

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备注/Memo

备注/Memo:
收稿日期:2026-06-04
基金项目:河南送变电建设有限公司内部基金项目(SGTYHT/23-JS-003)
作者简介:原 玮 (1985-),男,河南焦作人,高级工程师,研究方向为输电线路运维检修、机器人驱动控制。
更新日期/Last Update: 2026-10-12