引用本文:冯迎宾,赵小虎,何震,等.油浸式变压器内部检测球形机器人的深度悬停控制研究[J].控制与决策,2020,35(2):375-381
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油浸式变压器内部检测球形机器人的深度悬停控制研究
冯迎宾1, 赵小虎1,2, 何震1, 李智刚1, 王亚彪1
(1. 中国科学院沈阳自动化研究所水下机器人研究室,沈阳110016;2. 中国科学院大学,北京101400)
摘要:
为实现设计的油浸式变压器内部检测机器人在实际作业过程中能针对深度方向某具体点进行观测,对机器人的深度悬停控制进行研究.通过对机器人控制策略的分析,根据水下机器人动力学理论,建立机器人在变压器油特殊介质的动力学模型.基于鲁棒反演控制方法及滑模自适应控制理论,提出一种鲁棒反演滑模控制方法,采用模糊控制器设计滑模面切换增益,以削弱不确定干扰带来的系统抖振,并通过Lyapunov理论分析证明控制器稳定性.解决了机器人在变压器油中因耦合、外界扰动等造成的深度悬停定点过程自旋及抖动问题,仿真及实验表明了所提出控制器的有效性.
关键词:  球形机器人  水下机器人  Lyapunov  反演控制  模糊控制  滑模控制  运动控制
DOI:10.13195/j.kzyjc.2018.0953
分类号:TP273
基金项目:
Depth hover control of spherical robot for internal detection of oil-immersed transformer
FENG Ying-bin1,ZHAO Xiao-hu1,2,HE Zhen1,LI Zhi-gang1,WANG Ya-biao1
(1. URV Lab,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016;2. University of Chinese Academy of Sciences,Beijing101400,China)
Abstract:
The depth hovering control problem of robots is studied such that the designed oil-immersed transformer inner detect robot can observe a specific depth direction point during the practical operation. By analyzing the control strategy of robots, according to the underwater robot dynamic theory, the dynamic model of robots in the transformer oil special medium is established. A robust backstepping sliding mode control method is proposed based on the robust backstepping control method and the adaptive sliding mode control theory. Meanwhile, a fuzzy controller is used to design the sliding mode surface switching gain to reduce the chattering caused by uncertain disturbances, and the stability of the control system is analyzed based on Lyapunov theory. Consequently, the spin and chattering problem of robots caused by coupling and external disturbance during the depth hover in transformer oil is solved. Finally, simulation and experiment results show the effectiveness of the proposed controller.
Key words:  spherical robot  underwater robot  Lyapunov  backstepping control  fuzzy control  sliding mode control  motion control

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