摘要
电力线路巡检机器人巡检过程中,引起控制参数的不确定性,造成传动结构中发生机电耦合振动,影响其行进稳定性。为此,提出电力线路巡检机器人传动结构机电耦合振动自动化抑制方法。建立机电耦合动力学模型,从机械系统中分析产生振动的根本原因,通过构建的两惯性模型得到机械振动频率;将无轮廊误差的整形指令,输入到自适应数字陷波滤波器中,使用递推方法辨识陷波滤波器参数,根据陷波滤波器输出信号分析其中的耦合振动信号,以此为依据实现机电耦合振动自动化抑制。通过实验证明:抑制方法可以将控制参数的稳定范围扩大,将机器人运作全过程中振动信号能量与残留振动信号能量至少降低了1.04J和0.9J,且消除了轮廊误差,具有较高的应用价值。
During the inspection process of power line inspection robot,the uncertainty of control parameters causes electromechanical coupling vibration in the transmission structure and affects its traveling stability.Therefore,an automatic suppression method for electromechanical coupling vibration of the transmission structure of power line inspection robots is proposed.The electromechanical coupling dynamic model is established to analyze the root cause of vibration from the mechanical system,and the mechanical vibration frequency is obtained through the two-inertia model.The shaping instruction without contour error is input into the adaptive digital notch filter.The parameters of the notch filter are identified by recursion,and the coupling vibration signal is analyzed according to the output signal of the notch filter,based on which the electromechanical coupling vibration is automatically suppressed.The experiment shows that the suppression method can expand the stability range of control parameters,reduce the vibration signal energy and residual vibration signal energy by at least 1.04 J and 0.9 J during the entire process of robot operation,and eliminate the contour error,which has high application value.
作者
侯姗
岳凤英
曹凤才
HOU Shan;YUE Fengying;CAO Fengcai(Jinzhong Vocational and Technical College,Jinzhong Shanxi 030600,China;North University of China,Taiyuan 030051,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第6期235-239,共5页
Machine Design And Research
基金
山西省自然科学基金“基于现代信号处理方法的复杂传动装置早期故障诊断研究”(201901D111158)。
关键词
巡检机器人
机电耦合振动
传动结构
振动抑制
最小二乘法
陷波滤波器
patrol robot
electromechanical coupling vibration
transmission structure
vibration suppression
least square method
notch filter
