Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels

Xu Shiyang; Wu Binghui; Ji Dongmei; Zhou Jiajun

doi:10.16578/j.issn.1004.2539.2024.04.009

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Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels

Design· Calculation | 更新时间：2024-04-19

- Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels
- Journal of Mechanical Transmission Vol. 48, Issue 4, Pages: 69-74(2024)
- 作者机构：
  
  上海电力大学能源与机械工程学院，上海 201306
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.04.009
  CLC：
- Published：15 April 2024，
  
  Received：24 December 2022，
  
  Revised：07 February 2023，
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徐诗洋,吴炳晖,纪冬梅等.电力隧道自动巡检机器人调平系统设计与运动学分析[J].机械传动,2024,48(04):69-74.

Xu Shiyang,Wu Binghui,Ji Dongmei,et al.Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels[J].Journal of Mechanical Transmission,2024,48(04):69-74.
徐诗洋,吴炳晖,纪冬梅等.电力隧道自动巡检机器人调平系统设计与运动学分析[J].机械传动,2024,48(04):69-74. DOI： 10.16578/j.issn.1004.2539.2024.04.009.

Xu Shiyang,Wu Binghui,Ji Dongmei,et al.Design and Dynamic Analysis of the Leveling System for Automatic Inspection Robots in Power Tunnels[J].Journal of Mechanical Transmission,2024,48(04):69-74. DOI： 10.16578/j.issn.1004.2539.2024.04.009.

摘要

为了解决机器人在行走过程中车身倾斜导致数据采集失准的问题，设计了一款基于比例-积分（Proportional Integral，PI）鲁棒滑模控制系统的3-RPS并联调平机构。首先，根据螺旋和反螺旋理论进行了构型综合；其次，对3-RPS调平机构进行了动力学分析计算，构建其动力学模型，并在此基础上引入自适应鲁棒滑模算法，对PI控制器进行优化改进，提高稳定性和自适应修正能力，利用李雅普诺夫（Lyapunov）函数对非线性控制系统进行了稳定性验证；最后，通过Matlab/Simulink对比模拟试验，获得控制误差曲线。仿真结果表明，基于鲁棒滑模算法优化后的PI控制系统自适应修正效果显著，大幅度降低了控制稳态误差。研究为3-RPS并联调平机构物理样机研制提供了基础。

Abstract

A 3-RPS parallel leveling mechanism based on the proportional integral (PI) robust sliding mode system is designed to solve the problem of data acquisition inaccuracy caused by vehicle tilting during the robot walking. Firstly

the configuration synthesis is carried out according to the spiral and inverse spiral theory. Then

the dynamic analysis and calculation of the 3-RPS leveling mechanism are carried out to construct its dynamic model. On this basis

the adaptive robust sliding mode algorithm is introduced to optimize and improve the PI controller to improve the stability and adaptive correction ability. The stability of the nonlinear control system is verified by Lyapunov function. Finally

the control error curve is obtained by Matlab/Simulink comparative simulation experiment. The simulation results show that the adaptive correction effect of the PI control system optimized by the robust sliding mode algorithm is remarkable

and the steady-state error of the control is greatly reduced. The research provides a basis for the development of physical prototype of 3-RPS parallel leveling mechanism.

关键词

3-RPS调平机构运动学分析非线性控制李雅普诺夫函数

Keywords

3-RPS leveling mechanismDynamic analysisNonlinear controlLyapunov function

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