The Research Of Hydraulic Servo Control System Of Water Cleaning Robot Based On Fuzzy Control

Continuous supply of electricity has become an important factor of social development, the normal operation of the substation is an important part of uninterrupted power supply, as a lot of pollutants in the atmosphere are deposited on the surface of the insulating column for a long time, which reduces the insulating properties and causes the dirt flashover. It not only causes widespread power outages trip and damage to electrical equipment, but also brings huge economic losses to the user for continuous power. In order to improve the contamination capacity of the substation insulator equipments, manual cleaning operations has been used in the current domestic, this cleaning method’s efficiency is low, the risk factor is high, and also causes damage to people. With the development of industrial automation, special operation robot shows a huge advantage in various industries, which is in urgent need to do this job instead of people.This article relies on the 2012 national "five" high-tech development plan ("863 Program") research project of" Research development and application for live for electricity repair work robot", and makes the relevant analysis and research for the entire system of water cleaning living robot of substation, especially for hydraulic servo control system of the robot. This article designs the fuzzy-PID controller for the hydraulic servo system, the simulation and field experiments show that the controller increases the control accuracy and the robustness of the system. The successfully design of Water washing robot greatly improves the efficiency of washing operation, the safety of staff guaranteed and also brings huge economic and social benefits.In this paper, the research work mainly includes the following several aspects. 1.This paper firstly elaborates the background and the meaning of this research, elaborates the development status and technology characteristics of the water cleaning living robot of the substation abroad, and then elaborates the research and development status of hydraulic servo control technology, finally introduced the main research content of this paper.2. This paper analyzes the structure and function of water washing robot, introduces the overall structure of the water washing robot firstly, and then makes a detailed analysis of each subsystem which includes water flushing system, hand-held control terminal system, communication system and hydraulic system.3. This paper analyzes the dynamics of the water washing robot manipulator, firstly makes the Jacobian matrix, obtains each joint velocity and angular velocity through the matrix, and then obtains Lagrangian calculated by the kinetic and potential energy, and obtains kinetic equation by derivation finally. Then established manipulator model via Pro/ E software, which was introduced into ADAMS, through re-add a serious of constraints to the model, obtains a virtual prototype robotic arm, finally makes the associated simulation analysis for the prototype.4. This paper designs the hydraulic servo control system of water cleaning living robot, and analyzes the hydraulic servo control system and designs hydraulic servo control system based on the controller of TRIO, and designs the hardware and software of this system, tests the feasibility of the control principle and wiring though simple debugging.5. This paper analyzes the hydraulic servo control system based on fuzzy- PID control., firstly makes the mathematical model of the robot’s hydraulic servo system, and then establishes the fuzzy-PID controller which controls the hydraulic servo system model, and finally makes the computer simulation and experimental analysis under the condition of the interference and no interference.