余萍,杨杰,刘丽沙.飞滑式巡线机器人自平衡控制方案设计与实现[J].电测与仪表,2015,52(3):. Yu Ping,Yang Jie,LIU Li-Sha.The Design of Self-balancing Control Method for Flight-sliding Inspection Robot on Power Lines[J].Electrical Measurement & Instrumentation,2015,52(3):.
飞滑式巡线机器人自平衡控制方案设计与实现
The Design of Self-balancing Control Method for Flight-sliding Inspection Robot on Power Lines
This paper designs a flight-sliding inspection robot which has the function of flight and on-line inspection, this machine combines the advantages of four-rotor and inspection robot, sliding on the zero line of transmission line for inspecting. The control method and overall structure are discussed in detail, designed the PID control with dead zone for self-balancing online. As well, the hardware platform are built, finally achieve self-balancing online of flight-sliding inspection robot. The experimental results verify the feasibility of this method.