| 高压巡线机器人穿越耐张杆塔的控制算法 |
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| 引用本文： | 戴锦春,胡睿,方宏良,董义君. 高压巡线机器人穿越耐张杆塔的控制算法[J]. 传感器与微系统, 2008, 27(8) |
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| 作者姓名： | 戴锦春 胡睿 方宏良 董义君 |
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| 作者单位： | 武汉大学,动力与机械学院,湖北,武汉,43007 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 通过对高压输电线路中耐张杆塔的电磁场进行理论和试验分析,根据电磁场的分布规律对导航电磁传感器的布置进行试验研究,提出了采用传感器补偿算法的控制对策。试验表明:采用传感器补偿算法的控制对策,巡线机器人自主穿越耐张杆塔障碍是可行的。
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| 关 键 词： | 巡线机器人 电磁场 控制对策 |
Control algorithm of robot for high-voltage transmission line to cross strain tower |
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| DAI Jin-chun,HU Rui,FANG Hong-liang,DONG Yi-jun. Control algorithm of robot for high-voltage transmission line to cross strain tower[J]. Transducer and Microsystem Technology, 2008, 27(8) |
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| Authors: | DAI Jin-chun HU Rui FANG Hong-liang DONG Yi-jun |
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| Abstract: | The electromagnetic field is analysed theoretically and experimentally which is on the strain tower of high-voltage transmission line,the layout of magnetic sensors for navigation is researched according the distribution of electromagnetic field,and an control measure which uses the sensor compensation algorithm is proposed.The test result shows that it is feasible for the inspection robot to cross the barriers of the strain tower autonomous by using the control measure. |
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| Keywords: | inspection robot electromagnetic field control measure |
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