王建邦,袁智勇,陈波,陈浩敏,杨占杰,任超.变电站巡检机器人数据驱动无模型自适应控制[J].电测与仪表,2019,56(19):114-120. Wang Jianbang,Yuan Zhiyong,Chen Bo,Chen Haomin,Yang Zhanjie,Ren Chao.Data driven model free adaptive control for substation inspection robot[J].Electrical Measurement & Instrumentation,2019,56(19):114-120.
变电站巡检机器人数据驱动无模型自适应控制
Data driven model free adaptive control for substation inspection robot
Considering the problems of dynamic modeling and parameter identification for the substation inspection robot, this paper proposes a data driven model free adaptive control method for the inspection robot based on double closed loop. Firstly, in order to facilitate understanding and simulation needs, the model of the substation inspection robot is briefly introduced. Secondly, the outer loop is designed to provide a virtual reference input for the inner loop according to the position error of the robot. Then, according to the model-free adaptive control method, the inner loop controller is designed to track the virtual reference speed of the robot. Note that, the method proposed in this paper only uses input and output data, no model information is used, so it is completely model free. Finally, the effectiveness of the proposed method is verified by simulation based on MATLAB.
