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

2019 ◽  
Vol 46 (5) ◽  
pp. 631-641
Author(s):  
Wei Jiang ◽  
Meng Huai Peng ◽  
Yu Yan ◽  
Gongping Wu ◽  
An Zhang ◽  
...  
Keyword(s):  
Electromagnetic Field ◽  
Control Method ◽  
Extreme Environment ◽  
Wind Load ◽  
Posture Control ◽  
Power Cable ◽  
Bp Network ◽  
Content Type ◽  
Operation Conditions ◽  
Strong Electromagnetic Field

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.

Robust trajectory tracking control for parameter perturbation power cable mobile operation robot system

2018 ◽  
Vol 45 (6) ◽  
pp. 744-757 ◽  
Author(s):  
Wei Jiang ◽  
Yu Yan ◽  
Lianqing Yu ◽  
Hong Jun Li ◽  
Lizhen Du ◽  
...  
Keyword(s):  
Motion Control ◽  
Pid Control ◽  
Control Method ◽  
Control Model ◽  
Power Cable ◽  
Joint Motion ◽  
Parameter Perturbation ◽  
Control Effect ◽  
Content Type ◽  
Parameters Perturbation

Purpose In the high-altitude, high-voltage electromagnetic interference operation environment, due to the parameters perturbation for robot control model caused by uncertainties and disturbances, and with the poor effective of the conventional proportional–integral–derivative (PID) control to parameters perturbation system, the mathematical model of power cable live operation robot joint PID closed-loop control system is established. Design/methodology/approach The corresponding joint motion robust PID control method is also proposed based on Kharitonov theory, the system robust stability conditions including the sufficient and necessary conditions are deduced and obtained and the solving process of robust PID control parameters stability region is provided. Findings Finally, the simulation research on robot joint motion PID control system is also launched in MATLAB environment based on Kharitonov theory. The results show that the conventional PID control obtains better control effect only to nominal model but is ineffective to parameter perturbation system, while robust PID obtains sound control effect to parameter perturbation system. Compared with H8 robust PID, the Kharitonov robust PID has better control effect which meet the system design requirements of joint motor quickly response, high tracking accuracy and sound stability. Finally, the validity and engineering practicability are verified by 220-kV living replacing damper operation experiment. Originality/value This paper has described the development of a damper replacement power cable live maintenance robot experimental prototype, which greatly improves operation efficiency and deals with the safety problem of operation in a high-voltage environment. A general manipulator motion control model of the power cable robot is established; the Kharitonov theory-based parameter perturbation robust motion control method of damper replacement robot is also obtained. Through the simulation comparison, it is verified that the Kharitonov control has more superiority for dealing with the parameter perturbation systems under the premise of ensuring the stability motion. The field experiment has further confirmed the engineering practicability.

Fuzzy control-based bolt tightening for power cable maintenance robot

2018 ◽  
Vol 45 (4) ◽  
pp. 561-571 ◽  
Author(s):  
Wei Jiang ◽  
Zhiyuan Zhou ◽  
Yu Yan ◽  
Gongping Wu ◽  
Lianqing Yu ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Design Methodology ◽  
Control Method ◽  
Fuzzy Controller ◽  
Power Cable ◽  
Dynamic Adjustment ◽  
Simulation Experiments ◽  
Content Type ◽  
Operation Process ◽  
Operation Status

Purpose In response to the poor reliability of live maintenance robots in semi-structured environments and the difficulty of monitoring their operation status, this paper aims to propose an online method for evaluating the operation status of high-voltage live maintenance robots based on fuzzy control. Design/methodology/approach The robot bolt tightening operation is taken as an example. During the whole operation process, the key technologies of bolt tightening are analyzed theoretically, a two-dimensional fuzzy control model of bolt tightening process control is established and the control parameters, which characterize the operation status, are obtained. Through dynamic adjustment of the fuzzy controller, real-time online monitoring of the robot operation status can be achieved. Findings The results of simulation experiments and 220 kV live operation experiments show that the reliability of robot bolt tightening is greatly enhanced by the proposed control method. Originality/value The results not only verify the engineering practicability of the fuzzy control-based method but also indicate that it can improve efficiency, safety and operability.

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

2019 ◽  
Vol 46 (6) ◽  
pp. 870-881
Author(s):  
Wei Jiang ◽  
Yu Yan ◽  
Qiao Min Li ◽  
An Zhang ◽  
Hong Jun Li ◽  
...  
Keyword(s):  
Motion Control ◽  
High Voltage ◽  
Control Algorithm ◽  
Control Method ◽  
Robust Stabilization ◽  
Wind Load ◽  
Content Type ◽  
Loop Control ◽  
Stabilization Control ◽  
Load Action

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.

Resonant interaction of strong electromagnetic field with metallic nanoinclusions in diamagnetic matrix

2007 ◽  
Author(s):  
H. V. Grushevskaya ◽  
V. V. Hrushevsky ◽  
T. I. Orekhovskaya ◽  
M. A. Senuk ◽  
T. A. Burenkova
Keyword(s):  
Electromagnetic Field ◽  
Resonant Interaction ◽  
Strong Electromagnetic Field

Electromagnetic analysis of an AC electric arc furnace including the modeling of an AC arc

2010 ◽  
Vol 29 (3) ◽  
pp. 667-685 ◽  
Author(s):  
Arash Kiyoumarsi ◽  
Abolfazl Nazari ◽  
Mohammad Ataei ◽  
Hamid Khademhosseini Beheshti ◽  
Rahmat‐Allah Hooshmand
Keyword(s):  
Electromagnetic Field ◽  
Electric Arc ◽  
Electromagnetic Analysis ◽  
Arc Furnace ◽  
Molten Bath ◽  
3D Fem ◽  
Content Type ◽  
Three Phase ◽  
Ac Arc ◽  
Different Parts

PurposeThe purpose of this paper is to present a 3D finite element model of the electromagnetic fields in an AC three‐phase electric arc furnace (EAF). The model includes the electrodes, arcs, and molten bath.Design/methodology/approachThe electromagnetic field in terms of time in AC arc is also modeled, utilizing a 3D finite element method (3D FEM). The arc is supposed to be an electro‐thermal unit with electrical power as input and thermal power as output. The average Joule power, calculated during the transient electromagnetic analysis of the AC arc furnace, can be used as a thermal source for the thermal analysis of the inner part of furnace. Then, by attention to different mechanisms of heat transfer in the furnace (convection and radiation from arc to bath, radiation from arc to the inner part of furnace and radiation from the bath to the sidewall and roof panel of the furnace), the temperature distribution in different parts of the furnace is calculated. The thermal model consists of the roof and sidewall panels, electrodes, bath, refractory, and arc. The thermal problem is solved in the steady state for the furnace without slag and with different depths of slag.FindingsCurrent density, voltage and magnetic field intensity in the arcs, molten bath and electrodes are predicted as a result of applying the three‐phase AC voltages to the EAF. The temperature distribution in different parts of the furnace is also evaluated as a result of the electromagnetic field analysis.Research limitations/implicationsThis paper considers an ideal condition for the AC arc. Non‐linearity of the arc during the melting, which leads to power quality disturbances, is not considered. In most prior researches on the electrical arc furnace, a non‐linear circuit model is usually used for calculation of power quality phenomena distributions. In this paper, the FEM is used instead of non‐linear circuits, and calculated voltage and current densities in the linear arc model. The FEM results directly depend on the physical properties considered for the arc.Originality/valueSteady‐state arc shapes, based on the Bowman model, are used to calculate and evaluate the geometry of the arc in a real and practical three‐phase AC arc furnace. A new approach to modeling AC arcs is developed, assuming that the instantaneous geometry of the AC arc at any time is constant and is similar to the geometry of a DC arc with the root mean square value of the current waveform of the AC arc. A time‐stepping 3D FEM is utilized to calculate the electromagnetic field in the AC arc as a function of time.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Dual mass MEMS gyroscope temperature drift compensation based on TFPF-MEA-BP algorithm

Sensor Review ◽  
2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Huiliang Cao ◽  
Rang Cui ◽  
Wei Liu ◽  
Tiancheng Ma ◽  
Zekai Zhang ◽  
...  
Keyword(s):  
Training Data ◽  
Experimental Result ◽  
Intrinsic Mode Functions ◽  
Temperature Drift ◽  
Connection Weight ◽  
Bp Network ◽  
Content Type ◽  
Mems Gyroscope ◽  
Time Frequency ◽  
Drift Compensation

Purpose To reduce the influence of temperature on MEMS gyroscope, this paper aims to propose a temperature drift compensation method based on variational modal decomposition (VMD), time-frequency peak filter (TFPF), mind evolutionary algorithm (MEA) and BP neural network. Design/methodology/approach First, VMD decomposes gyro’s temperature drift sequence to obtain multiple intrinsic mode functions (IMF) with different center frequencies and then Sample entropy calculates, according to the complexity of the signals, they are divided into three categories, namely, noise signals, mixed signals and temperature drift signals. Then, TFPF denoises the mixed-signal, the noise signal is directly removed and the denoised sub-sequence is reconstructed, which is used as training data to train the MEA optimized BP to obtain a temperature drift compensation model. Finally, the gyro’s temperature characteristic sequence is processed by the trained model. Findings The experimental result proved the superiority of this method, the bias stability value of the compensation signal is 1.279 × 10–3°/h and the angular velocity random walk value is 2.132 × 10–5°/h/vHz, which is improved compared to the 3.361°/h and 1.673 × 10–2°/h/vHz of the original output signal of the gyro. Originality/value This study proposes a multi-dimensional processing method, which treats different noises separately, effectively protects the low-frequency characteristics and provides a high-precision training set for drift modeling. TFPF can be optimized by SEVMD parallel processing in reducing noise and retaining static characteristics, MEA algorithm can search for better threshold and connection weight of BP network and improve the model’s compensation effect.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

Sign in / Sign up

Export Citation Format

Share Document