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Motion posture control for power cable maintenance robot in typical operation conditions

Wei Jiang (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center for Intelligent Assembly of Industrial Detonators, Wuhan, China)
Meng Huai Peng (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center for Intelligent Assembly of Industrial Detonators, Wuhan, China)
Yu Yan (State Grid of Hunan Electric Power Company Maintenance Company, Changsha, China; State Grid Laboratory for Live Inspection and Intelligent Operation Technology Changsha, China and Hunan Province Key Laboratory for Intelligent Live Operation Technology and Equipment (Robot), Changsha, China)
Gongping Wu (Wuhan University, Wuhan, China)
An Zhang (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center for Intelligent Assembly of Industrial Detonators, Wuhan, China)
Lianqing Yu (Wuhan Textile University, Wuhan, China)
Hong Jun Li (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center for Intelligent Assembly of Industrial Detonators, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 16 July 2019

Issue publication date: 21 August 2019

Abstract

Purpose

In the extreme power environment of flexible transmission line, wind load, high voltage and strong electromagnetic interference, the motion performance of the robot manipulator is strongly affected by the extreme environment. Therefore, this study aims to improve the manipulator motion control performance of power cable maintenance robot and effectively reduce the influence of specific operation environment on the robot manipulator motion posture.

Design/methodology/approach

The mathematical model under three typical operation conditions, namely, flexible line, wind load and strong electromagnetic field have been established, correspondingly the mapping relationship between different environment parameters and robot operation conditions are also given. Based on the nonlinear approximation feature of neural network, a back propagation (BP) neural network is adopted to solve the posture control problems. The power cable line sag, robot tile angle caused by wind load and spatial field strength are the input signals of the BP network in the robot motion posture control method.

Findings

Through the training and learning of the BP network, the output control variables are used to compensate the actual robot operation posture. The simulation experiment verifies the effectiveness of the proposed algorithm, and compared with the conventional proportional integral differential (PID) control, the method has high real-time performance and sound stability. Finally, field operation experiments further validate the engineering feasibility of the control method, and at the same time, the proposed control method has the remarkable characteristics of sound universality, adaptability and easy expansion.

Originality/value

A multi-layer control architecture which is suitable for smart grid platform maintenance is proposed and a robot system platform for network operation and maintenance management is constructed. The human–machine–environment coordination and integration mode and intelligent power system management platform can be realized which greatly improves the intelligence of power system management. Mathematical models of the robot under three typical operation conditions of flexible wire wind load and strong electromagnetic field are established and the mapping relationship between different environmental parameters and the robot operation conditions is given. Through the non-linear approximation characteristics of BP network, the control variables of the robot joints can be obtained and the influence of extreme environment on the robot posture can be compensated. The simulation results of MATLAB show that the control algorithm can effectively restrain the influence of uncertain factors such as flexible environment, wind load and strong electromagnetic field on the robot posture. It satisfied the design requirements of fast response, high tracking accuracy and good stability of the control system. Field operation tests further verify the engineering practicability of the algorithm.

Keywords

Acknowledgements

Funding: This work was supported by the Hubei Provincial Department of Education Research Project (B2019067) and Wuhan Textile University, Research Project Fund (National Project Cultivation Plan, 2019) and State Grid Hunan Electric Power Company Science and Technology Project.

Citation

Jiang, W., Peng, M.H., Yan, Y., Wu, G., Zhang, A., Yu, L. and Li, H.J. (2019), "Motion posture control for power cable maintenance robot in typical operation conditions", Industrial Robot, Vol. 46 No. 5, pp. 631-641. https://doi.org/10.1108/IR-01-2019-0015

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited