配电网带电作业机器人机构配置与协调控制方法分析

针对配电网高压作业效率低的缺点，研究应用于作业过程中的机器人机构配置以及协调控制方法。机器人包括电源系统、障碍跨越机构、自救传感器系统以及自锁轮式爬升机构等，利用模糊PID控制器实现带电作业机器人的协调控制，模糊PID控制器将误差以及误差变化率作为输出，利用模糊控制规则实时调整PID参数，通过不同运行时刻的控制参数自整定提升控制效果，完成配电网带电作业机器人机构配置与协调控制方法。实验结果表明，输出信号在100ms内稳定至固定区间，机器人成功完成绝缘子串更换等高压作业，超调小，响应速度快。

Analysis of Mechanism Configuration and Coordinated Control Method of Robots for Live Working in Distribution Network

Aiming at the low efficiency of high-voltage operation in distribution network, the robot mechanism configuration and coordinated control method applied in the operation process are studied. The robot includes power supply system, obstacle crossing mechanism, self rescue sensor system and self-locking wheel climbing mechanism. The fuzzy PID controller is used to realize the coordinated control of live working robot. The fuzzy PID controller takes the error and error change rate as the output, and uses the fuzzy control rules to adjust the PID parameters in real time, Through the self-tuning of control parameters at different operation times to improve the control effect, the mechanism configuration and coordinated control method of live working robot in distribution network are completed. The experimental results show that the output signal is stable to a fixed range within 100ms, and the robot successfully completes high-voltage operations such as insulator string replacement, with small overshoot and fast response speed.