Field wind load suppression control for the live-working robot based on gyro-stabilizer and dynamic model

Abstract

Transmission lines equipped with the live-working robot operation in high-altitude environments are highly susceptible to disturbances caused by wind loads, which can induce lateral tilting of the robots body. Additionally, the interaction between the live-working robot and the flexible transmission lines establishes a rigid-flexible coupling system. Vibrations in the suspended transmission line, occurring between adjacent towers due to external forces, can significantly affect the stability and equilibrium of the robot during operation. To mitigate the effects of high-altitude wind loads and mechanical vibrations on electric work robots, this study proposes an autonomous body posture adjustment method for the robot under wind load, based on a gyroscopic stabilizer. By regulating the oscillation angle and deflection angle of the gyro-stabilizer, the direction of the precession torque is modified, thereby reducing the impact of wind forces on the robot's body. First, a dynamic model of the robot-gyro-stabilizer under wind disturbance is established to derive the mapping relationship between the parameters of the gyro-stabilizer and the wind-induced deflection angle. The Disturbance Observer is employed to achieve a more precise estimation of the robot's inclination angle, thereby enhancing the accuracy of the oscillation gimbal and deflection angle outputs to the gyro-stabilizer. The wind load model is derived by calculating the pulsating wind forces using the Davenport spectral mathematical model. Additionally, an autoregressive model is employed to predict future wind values based on a time series analysis, enabling the forecasting of wind load disturbances over time. Simulation experiments for wind load suppression are conducted in the joint Adams-Simulink environment. wherein the wind load model is applied to the side of the robot's fuselage. The gyroscope is controlled using an H∞ closed-loop control system with an interference observer, which provides real-time feedback on both the fuselage inclination and the gyro-stabilizer-related parameters. The gyro-stabilizer effectively mitigates the wind load disturbance, reducing the swing amplitude of the robot by 82.56%. This enhancement allows the robot to maintain a relatively stable working posture despite wind disturbances, thereby improving the robot's engineering practicality and operational reliability in dynamic environments.