Control algorithm of robot for high-voltage transmission line to cross strain tower

DAI Jin-chun; HU Rui; FANG Hong-liang; DONG Yi-jun

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Control algorithm of robot for high-voltage transmission line to cross strain tower

更新时间：2025-09-11

- Control algorithm of robot for high-voltage transmission line to cross strain tower
- Issue 8, Pages: 106-108(2008)
- 作者机构：
  
  武汉大学动力与机械学院
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Published：2008
- 稿件说明：
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[1]戴锦春,胡睿,方宏良,董义君.高压巡线机器人穿越耐张杆塔的控制算法[J].传感器与微系统,2008(08):106-108.

DAI Jin-chun, HU Rui, FANG Hong-liang, et al. Control algorithm of robot for high-voltage transmission line to cross strain tower[J]. 2008, (8): 106-108.
[1]戴锦春,胡睿,方宏良,董义君.高压巡线机器人穿越耐张杆塔的控制算法[J].传感器与微系统,2008(08):106-108. DOI：

DAI Jin-chun, HU Rui, FANG Hong-liang, et al. Control algorithm of robot for high-voltage transmission line to cross strain tower[J]. 2008, (8): 106-108. DOI：

摘要

通过对高压输电线路中耐张杆塔的电磁场进行理论和试验分析

根据电磁场的分布规律对导航电磁传感器的布置进行试验研究

提出了采用传感器补偿算法的控制对策。试验表明:采用传感器补偿算法的控制对策

巡线机器人自主穿越耐张杆塔障碍是可行的。

Abstract

The electromagnetic field is analysed theoretically and experimentally which is on the strain tower of high-voltage transmission line

the layout of magnetic sensors for navigation is researched according the distribution of electromagnetic field

and an control measure which uses the sensor compensation algorithm is proposed.The test result shows that it is feasible for the inspection robot to cross the barriers of the strain tower autonomous by using the control measure.

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Keywords

references

高压巡线机器人电磁传感器导航方法 [J]. 陈中伟,肖华,吴功平. 传感器与微系统 . 2006(09)

架空电力线路巡线机器人的研究综述 [J]. 张运楚,梁自泽,谭民. 机器人 . 2004(05)

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