Research On Path Planning And Trajectory Tracking Control Of Substation Inspection Robot

As an important component of the power system,the outdoor substation conducts regular inspections on the operation status of the substation equipment,which is a necessary condition for ensuring long-term,stable and efficient operation of the substation.At present,the inspection methods of outdoor substation are mostly manual inspections,it has a highly labor intensity and there is no guaranteed of accuracy and timeliness.As an intelligent automatic inspection system,the substation inspection robot has become a research hotspot of substation unmanned inspection.Therefore,this thesis takes the substation inspection robot as the research object,and conducts in-depth research on the path planning and trajectory tracking control of the inspection robot during the movement to achieve accurate control of navigation and motion control during the inspection..The main research contents of this thesis are as follows:(1)Analyze the working environment and inspection requirements of the substation inspection robot to determine its driving scheme.The concept and method of integrity and non-integrity system are introduced,and the constraint of substation inspection robot is analyzed.The kinematics and dynamics model of the inspection robot is established,which lays a foundation for the path planning and trajectory tracking control research of the inspection robot.(2)The fast extended random tree algorithm(RRT)was used to study the global path planning of substation inspection robot in the known environment.The RRT algorithm is improved by introducing the target deviation sampling strategy and adding the measure function of Angle parameter,and then the obtained path is smoothed and optimized.The simulation results show that the improved RRT algorithm can plan the most economic path for the robot from the starting point to the target inspection point.(3)The trajectory tracking problem based on the kinematics model of substation inspection robot is studied.Aiming at the robot trajectory tracking problem under ideal conditions,based on the synovial variable structure control algorithm,a sliding mode variable structure control law with improved approach law is designed to improve the stability of trajectory tracking.Then,the fuzzy control method is introduced.A fuzzy controller is designed to adjust the parameters in the sliding mode variable structurecontroller to improve the system rapidity.The simulation results show that the designed controller can make the inspection robot obtain good trajectory tracking performance.(4)Based on the kinematics and dynamics model of substation inspection robot,a sliding mode variable structure trajectory tracking controller based on disturbance observer is designed.Firstly,a virtual speed controller is designed for the kinematics model.Then,based on the dynamic model,the integral sliding surface design torque controller is selected.The disturbance observer is designed for the existing external disturbance which is estimated online and realized feed-forward.Compensation allows the systematic error to converge to zero gradually.The simulation results show that the system with disturbance observer can effectively weaken the system chattering and obtain better trajectory tracking control effect.