To read this content please select one of the options below:

Research on robust stabilization control of high-voltage power maintenance robot under wind load action

Wei Jiang (Wuhan Textile University, Wuhan, China and Hubei Key Laboratory of Digital Textile Equipment, Hubei, China and Intelligent Live Working Technology and Equipment (Robot) Hunan Province Key Laboratory, Changsha, China)
Yu Yan (State Grid of Hunan Electric Power Company Maintenance Company, Changsha, China)
Qiao Min Li (Wuhan Textile University, Wuhan, China and Hubei Provincial Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
An Zhang (Wuhan Textile University, Wuhan, China and Hubei Provincial Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
Hong Jun Li (Wuhan Textile University, Wuhan, China and Hubei Provincial Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
Daogeng Jiang (Ningbo City College of Vocational Technology, Ningbo, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 27 August 2019

Issue publication date: 14 November 2019

197

Abstract

Purpose

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to achieve high-quality power transmission. In respond to a series of technical problems in the operation process, such as robot shaking, terminal positioning error, camera image blurred and visual servo control difficulty which caused by the influence of high altitude random wind load on the motion control of power maintenance robot. The purpose of this study is to minimizing the impact of wind loads on robot motion control on the high voltage transmission line, so as to obtain the sound motion performance.

Design/methodology/approach

This paper presents a robust stabilization control method for flexible wire power maintenance robot under wind load action, the coupling mathematical model between the flexible wire with the robot has been established, and the robot rolling model under wind load has also been established. According to the tilt sensor, the robot pendulum angle value can be obtained and fitted through sinusoidal function; the robot swing period and frequency under wind load action can be also obtained; the feedforward- and feedback-based robot closed-loop control system is also designed.

Findings

Through the online detection of wind load dection, so as to dynamic control the clamping force of the robot's dual-arm jaws, therefore, the robot robust stabilization control with different grades of wind load can be realized. Finally, the effectiveness and engineering practicability of the proposed algorithm are verified by simulation experiments and field operation experiments. Compared with the conventional proportional integral differential (PID) algorithm, this method can effectively suppress the influence of wind load on the robot robust stabilization motion control, and the robot posture detection operation control has been further optimized.

Originality/value

A robust stabilization control method for power robot under wind load is proposed. The coupling motion model of flexible HVT and robot is established. The mathematical relationship between the robot wind rolling angle and the wind force has been deduced, and the corresponding closed-loop control system with feedforward and feedback has also been designed. Through the design of robust stabilization control algorithm based on mixed sensitivity function, the effectiveness of the mixed sensitivity robust stabilization control algorithm is verified by simulation experiments in MATLAB environment. Compared with the traditional PID algorithm, this method can effectively suppress the influence of large-scale disturbance information represented by wind load on the robot motion control. The engineering practicability of the robot robust stabilization control algorithm is further verified by the robot live damper replacement operation under the field wind load, which further improves the robot operation efficiency and intelligence.

Keywords

Acknowledgements

Funding: This work was supported by the 2019 Opening fund for Hubei Key Laboratory of Digital Textle Equipment (DTL2019010), Hubei Provincial Department’s Education Research Project (B2019067) and Intelligent Live Working Technology and Equipment (Robot) Hunan Province Key Laboratory Open Funding (2019KZD1005).

Retraction notice: The publishers of Industrial Robot wish to retract the article “Research on robust stabilization control of high-voltage power maintenance robot under wind load action” by W. Jiang, Y. Yan, Q.M. Li, A. Zhang, H.J. Li and D. Jiang, which appeared in Volume 46, issue 6, 2019.

It has come to our attention that there are concerns that the peer review process may have been compromised, and that as a result, the findings may not be relied upon.

The authors of this paper would like to note that they do not agree with the content of this notice.

The publishers of the journal sincerely apologize to the readers.

Citation

Jiang, W., Yan, Y., Li, Q.M., Zhang, A., Li, H.J. and Jiang, D. (2019), "Research on robust stabilization control of high-voltage power maintenance robot under wind load action", Industrial Robot, Vol. 46 No. 6, pp. 870-881. https://doi.org/10.1108/IR-04-2019-0088

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

Related articles