應(yīng)用狀態(tài)反饋云數(shù)據(jù)的變電站巡檢機(jī)器人S型加減速控制方法

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中圖分類號：TP273 文獻(xiàn)標(biāo)志碼：B 文章編號：1671-5276（2025）03-0201-05

Abstract：Inroutieoperationofsubstationinspectionrobots，exponentialacelerationanddecelerationcontrolalgorithmsare usuallyused to generatecontrol schemes，andasuddendeceleration change mayoccuratthestarting point，causingadrastical accelerationchangerateinthespedcontrolresult.AS-typeacelerationanddecelerationcontrolmethodforsubstation inspectionrobotsusingstatefedbackclouddataisproposed.Using theS-typecontrolprinciple，theaccelerationand decelerationcontrol processoftherobotisdividedinto11stages，andacompleteS-typeacelerationanddecelerationcontrol model isconstructed.Assistedbycloudcomputing platforms andsensordevices，astate feedback clouddatacolection moduleis builtotrackthereal-timeoperationstatusofrobots.Acontrolercomposedoffeedforwardcompensationandfeedback compensationisdesigned，andacontrolparametervalueschememeeting therequirementsisdetermined.Particle swarm optimizationalgorithmisapliedtooptimizethesolution，generatingtheoptimalcontrolparametersfortheS-typeacceleration anddecelerationoftheinspectionrobot.Theexperimentalresultsshowthattheaccelerationchangeratebytheproposedmethod is less than 0.2m/s3 ，which meets the smoothness requirements of robot's acceleration and deceleration changes.

Keywords：state fedback；inspection robots；acceleration and deceleration； S- shapedvelocity curve；compensating control

0 引言

變電站運(yùn)行的安全性和穩(wěn)定性對于整個電力系統(tǒng)的正常運(yùn)作至關(guān)重要。（剩余5400字）