摘要
为提高自主式绝缘台在升降过程中的稳定性,针对升降过程避障控制方法进行了研究。首先从结构角度展开分析。控制系统的两个主要结构为AM600-CPU1608TP型可编程逻辑控制器(PLC)和伺服电机。两者相互配合完成避障控制。为维持控制系统的平稳运行,需约束伺服电机的工作状态,确保电流脉动系数保持在0.67以下,使伺服驱动器保持平稳状态。基于此,通过一级和二级调平计算升降过程中人工势场函数,调整绝缘升降台的姿势和轨迹,并建立补偿函数弥补升降过程中的不稳定颤动,以判断障碍物位置并实现避障控制。试验结果表明,该方法能够有效地完成绝缘台的升降避障任务,具有避障误差小、避障过程中调平性能好、绝缘台升降状态稳定的优点。该方法具有良好的控制效果。
To improve the stability of the autonomous insulated platform in the lifting and lowering process,the obstacle avoidance control method for the lifting and lowering process has been researched.Firstly,from the structural point of view to analyze,the two main structures of the control system are the AM600-CPU1608TP type programmable logic controller(PLC)and servo motor.The two cooperate with each other to complete the obstacle avoidance control.To maintain the smooth operation of the control system,the operating state of the servo motor is constrained to ensure that the current pulsation coefficient is kept below 0.67 to keep the servo drive in a smooth state.Based on this,the artificial potential field function in the lifting and lowering process is calculated through primary and secondary leveling,the posture and trajectory of the insulated lifting and lowering platform are adjusted,and a compensation function is established to make up for the unstable flutter in the lifting and lowering process,so that the position of obstacles is judged and the obstacle avoidance control is realized.The test results show that the method can effectively complete the lifting and lowering obstacle avoidance task of the insulated platform,with the advantages of small obstacle avoidance error,good leveling performance in the process of obstacle avoidance,and stable lifting and lowering state of the insulated platform.The method has good control effect.
作者
张捷华
宋洪刚
任俊铭
陈晓青
蒋俊
ZHANG Jiehua;SONG Honggang;REN Junming;CHEN Xiaoqing;JIANG Jun(Dongyang Guangming Electric Power Construction Co.,Ltd.,Jinhua 321000,China)
出处
《自动化仪表》
CAS
2024年第8期32-36,41,共6页
Process Automation Instrumentation
基金
国网浙江省电力有限公司科技基金资助项目(BDWZBDY2022-077)。
关键词
绝缘台
升降作业
避障控制
安全区域
可编程逻辑控制器
Insulated platform
Lifting and lowering operation
Obstacle avoidance control
Safe area
Programmable logic controller(PLC)
