Control Method for Up and Down Lines of Transmission Line Operation Robots

摘要

The current transmission line robot up and down the line relies on manual lifting, and this method is labor-intensive, dangerous, and requires the assistance of many people. To address this problem, the paper proposes a control method based on UAV-assisted transmission line power line operation robot up and down the line. Aiming at the characteristics of transmission lines, in order to solve the problem of uneven posture and even side-turning when the robot is on line, the robot adopts the way of lifting with four traction ropes driven by the reel, and analyzes the tilting situation that the robot may encounter when it is on line, and puts forward a BP fuzzy neural network PID-based leveling control method, which compares the rapidity and stability of the leveling of the different control methods in the case of perturbation, and solves the problem of uneven posture and side-turning of the robot when it is on line. the problem of uneven attitude. Finally, a robot lifting attitude leveling experiment is carried out in a simulated field to prove the feasibility of the proposed automatic robot up and down line method in practical applications.