高压柜带电作业机器人操作力矩精细化控制

Fine control of operating torque for live working robots in high-voltage cabinets

摘要:

带电作业机器人在执行精细化检修工作时，对操作力矩的把控是影响操作精度和操作稳定性的关键因素。为此，对高压柜带电作业机器人操作力矩进行精细化控制。通过对高压柜带电作业机器人操作力矩控制硬件进行设计，使得高压柜带电作业机器人能够实现从数据采集和感知到智能决策和实际执行的全过程，以实现精准、稳定和安全的操作；在此基础上，考虑到高压柜的检修任务通常涉及多个复杂的操作步骤，得到高压柜待检修目标进行准确定位结果后，在PID算法的基础上使用灰狼算法对PID控制器参数进行自适应优化，并结合理想的力矩变化曲线对带电作业机器人进行力矩控制，进而保护带电作业机器人的机械臂，由此完成高压柜带电作业机器人操作力矩精细化控制。结果表明:所设计系统的超调量在0.5%以内；拟合优度相对更大，更加接近1，由此说明系统对带电作业机器人的控制精准度更高，稳定性更好，更有利于实现精细化操作，可以有效避免误操作现象的发生。

Abstract:

The control of operating torque is a key factor affecting the accuracy and stability of live working robots when performing some refined maintenance work. For this purpose, precise control of the operating torque of the high-voltage cabinet live working robot is carried out. By designing the hardware for torque control of the high-voltage cabinet live working robot, the robot can achieve the entire process from data collection and perception to intelligent decision-making and actual execution, in order to achieve precise, stable, and safe operation; On this basis, considering that the maintenance task of the high-voltage cabinet usually involves multiple complex operating steps, after obtaining accurate positioning results of the target to be repaired for the high-voltage cabinet, the grey wolf algorithm is used to adaptively optimize the PID controller parameters on the basis of the PID algorithm. Combined with the ideal torque change curve, the torque control of the live working robot is carried out to protect the mechanical arm of the live working robot, This completes the design of a precision operation torque automatic control system for high-voltage cabinet live working robots. The results show that the overshoot of the designed system is within 0.5%; The goodness of fit is relatively higher, closer to 1, indicating that the system has higher control accuracy and stability for live working robots, which is more conducive to achieving refined operations and can effectively avoid the occurrence of misoperation.