[1]张佰庆,周 鹏,刘 永,等.基于分层自适应扰动观测的绝缘子攀爬机器人抗扰控制方法研究[J].机械与电子,2026,44(07):81-92.
　ZHANG Baiqing,ZHOU Peng,LIU Yong,et al.Research on Anti-disturbance Control Method of Insulator Climbing Robot Based on Hierarchical Adaptive Perturbation Observation[J].Machinery & Electronics,2026,44(07):81-92.
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基于分层自适应扰动观测的绝缘子攀爬机器人抗扰控制方法研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年07期
页码:
81-92
栏目:
机器人技术
出版日期:
2026-07-25

文章信息/Info

Title:
Research on Anti-disturbance Control Method of Insulator Climbing Robot Based on Hierarchical Adaptive Perturbation Observation
文章编号:
1001-2257(2026)07-0081-12
作者:
张佰庆1; 周 鹏2; 刘 永1; 徐敦彬1; 刘柏宏1; 季洪鑫3
1.国网徐州供电公司,江苏 徐州 221000;
2.国网江苏电力设计咨询有限公司徐州勘测设计分公司,江苏 徐州 221000;
3.中国矿业大学电气工程学院,江苏 徐州 221116
Author(s):
ZHANG Baiqing1; ZHOU Peng2; LIU Yong1; XU Dunbin1; LIU Baihong1; JI Hongxin3
(1.State Grid Xuzhou Power Supply Company,Xuzhou 221000,China;
2.Xuzhou Survey and Design Branch,State Grid Jiangsu Electric Power Design Consulting Co.,Ltd.,Xuzhou 221000,China;
3.School of Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China)
关键词:
绝缘子清洗; 攀爬机器人; 仿生设计; 扰动观测器; 终端滑模抗扰控制
Keywords:
insulator cleaning; climbing robot; bionic design; disturbance observer; terminal sliding mode anti-disturbance control
分类号:
TP242
文献标志码:
A
摘要:
针对绝缘子攀爬机器人在高空作业时面临强风载荷与清洗反作用力等复杂扰动,导致其运动稳定性控制难度大的问题,提出一种基于分层自适应扰动观测的抗扰控制方法。首先,基于仿生学原理设计一种四足攀爬机器人机构,并采用旋量理论与凯恩法建立其运动学与动力学模型。其次,对风载与清洗扰动进行精细化建模,分析其耦合作用机理。在此基础上,设计一种融合前馈补偿、非线性扰动观测器(NDOB)与自适应终端滑模控制(RATSMC)的复合控制器,并通过约束消除方法解决系统冗余驱动问题。李雅普诺夫稳定性分析证明了闭环系统的一致最终有界性。仿真结果表明,与传统PID控制相比,所提方法能将本体位姿跟踪误差显著降低至1 mm 与0.01 rad以内,有效抑制了控制力矩抖振,在面对时变非线性扰动时表现出更强的鲁棒性与更高的控制精度,为绝缘子攀爬机器人的稳定作业提供了有效的解决方案。
Abstract:
To address the challenge of motion stability control for insulator climbing robots operating at high altitudes under complex disturbances,such as strong wind loads and cleaning reaction forces,this paper proposes an anti-disturbance control method based on hierarchical adaptive perturbation observation.Firstly,a bio inspired quadruped climbing robot mechanism is designed,and its kinematic and dynamic models are established using screw theory and Kane’s method.Subsequently,the wind loads and cleaning disturbances are modeled in detail,and their coupling mechanisms is analyzed.On this basis,a composite controller integrating feedforward compensation,a nonlinear disturbance observer (Nonlinear Disturbance Observe,NDOB),and robust adaptive terminal sliding mode control (Robust Adaptive Terminal Sliding Mode Control,RATSMC) is developed,while a constraint elimination method is employed to resolve the redundant actuation problem of the system.Lyapunov stability analysis proves the uniform ultimate boundedness of the closed-loop system.Simulation results show that,compared with conventional PID control,the proposed method significantly reduces the body pose tracking error to within 1 mm and 0.01 rad,effectively suppresses control torque chattering,and exhibits stronger robustness and higher control precision under time varying nonlinear disturbances,providing an effective solution for stable operation of insulator climbing robots.

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备注/Memo

备注/Memo:
收稿日期:2026-04-01
基金项目:国网江苏省电力有限公司科技项目资助(J2025150)
作者简介:张佰庆 (1978-),男,江苏徐州人,硕士,高级工程师,研究方向为输变电运维检修;季洪鑫 (1988-),男,江苏徐州人,博士,硕士研究生导师,研究方向为高电压绝缘检测与故障诊断,通信作者,E-mail:jihongx816@163.com。
更新日期/Last Update: 2026-08-27