Open AccessSynchronous control of the robot for repairing broken strands of overhead ground wires
Author(s) -
Jing Peng,
Hong-fei Tao,
Hong-yu Ni,
Wenxu Yan
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2216/1/012040
Subject(s) - control theory (sociology) , synchronization (alternating current) , terminal sliding mode , controller (irrigation) , computer science , robot , tracking error , sliding mode control , overhead (engineering) , mechanism (biology) , synchronous motor , dual (grammatical number) , control engineering , engineering , control (management) , artificial intelligence , physics , channel (broadcasting) , art , computer network , electrical engineering , literature , nonlinear system , quantum mechanics , agronomy , biology , operating system
Abstarct. Overhead ground wire broken strand repair robot is a new type of electric robot, a complex multi-motor system. Therefore, the problem of synchronous control of each mechanism in the robot needs to be solved. A dual-layer sliding mode control strategy based on a cross-coupled synchronous control structure is proposed from the perspectives of mechanical structure synchronization and algorithm synchronization in this paper. Firstly, a global fast terminal sliding mode controller with single motor is designed for permanent magnet synchronous motor; Secondly, for the dual-motor system in the pre-twisted wire winding mechanism, a cross-coupling control structure is introduced. And a dual-motor synchronous compensation controller is designed in view of the fast non-singular terminal sliding mode combined with the new approximation law; Finally, the simulation verification in MATLAB, the results show that it has a certain improvement on the tracking error and synchronization error of the system. The anti-disturbance ability of the pre-twisted wire winding mechanism against uncertain loads is improved.