RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks
Considering the wire core which is easily damaged because of the instability of the power distribution robot during the process of peeling the insulation layer, we have proposed a cutting force tracking control algorithm based on impedance control that is suitable for the end peeling instrument. At...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8840421 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832566072497143808 |
|---|---|
| author | Xianjin Xu Shichao Hu Yu Yan Yuhang Yang Zhiyong Yang Haoda Chen |
| author_facet | Xianjin Xu Shichao Hu Yu Yan Yuhang Yang Zhiyong Yang Haoda Chen |
| author_sort | Xianjin Xu |
| collection | DOAJ |
| description | Considering the wire core which is easily damaged because of the instability of the power distribution robot during the process of peeling the insulation layer, we have proposed a cutting force tracking control algorithm based on impedance control that is suitable for the end peeling instrument. At present, the task requirement of sudden changes about environment stiffness cannot be accomplished by many impedance control approaches due to the complexity of working environment stiffness about power distribution robot; then, the Recursive Least Square (RLS) method was introduced into the impedance control algorithm to identify the cable insulation layer and cable core stiffness online to achieve accurate and stable tracking of the cutting force. Furthermore, the impedance control of peeling cable insulation layer and the proposed RLS method were simulated and tested contrastively, and the high-voltage cable peeling experiment was performed. The results of simulation and experiment showed that the force control algorithm based on RLS parameter identification still has good force tracking performance during the environment stiffness changes suddenly, and the steady-state error approaches zero, demonstrating the feasibility and effectiveness of the RLS impedance control algorithm, which has important practical significance for improving power distribution efficiency. |
| format | Article |
| id | doaj-art-6f804e2003e04a2aa127459fd07cc4e4 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-6f804e2003e04a2aa127459fd07cc4e42025-02-03T01:05:10ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88404218840421RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power NetworksXianjin Xu0Shichao Hu1Yu Yan2Yuhang Yang3Zhiyong Yang4Haoda Chen5College of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaCollege of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaState Grid of Hunan Electric Power Company Maintenance Company, Changsha 410004, ChinaCollege of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaCollege of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaCollege of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaConsidering the wire core which is easily damaged because of the instability of the power distribution robot during the process of peeling the insulation layer, we have proposed a cutting force tracking control algorithm based on impedance control that is suitable for the end peeling instrument. At present, the task requirement of sudden changes about environment stiffness cannot be accomplished by many impedance control approaches due to the complexity of working environment stiffness about power distribution robot; then, the Recursive Least Square (RLS) method was introduced into the impedance control algorithm to identify the cable insulation layer and cable core stiffness online to achieve accurate and stable tracking of the cutting force. Furthermore, the impedance control of peeling cable insulation layer and the proposed RLS method were simulated and tested contrastively, and the high-voltage cable peeling experiment was performed. The results of simulation and experiment showed that the force control algorithm based on RLS parameter identification still has good force tracking performance during the environment stiffness changes suddenly, and the steady-state error approaches zero, demonstrating the feasibility and effectiveness of the RLS impedance control algorithm, which has important practical significance for improving power distribution efficiency.http://dx.doi.org/10.1155/2020/8840421 |
| spellingShingle | Xianjin Xu Shichao Hu Yu Yan Yuhang Yang Zhiyong Yang Haoda Chen RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks Complexity |
| title | RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks |
| title_full | RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks |
| title_fullStr | RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks |
| title_full_unstemmed | RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks |
| title_short | RLS Impedance Intelligence Control Algorithm for Wire Peeler of Robot in Complex Power Networks |
| title_sort | rls impedance intelligence control algorithm for wire peeler of robot in complex power networks |
| url | http://dx.doi.org/10.1155/2020/8840421 |
| work_keys_str_mv | AT xianjinxu rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks AT shichaohu rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks AT yuyan rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks AT yuhangyang rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks AT zhiyongyang rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks AT haodachen rlsimpedanceintelligencecontrolalgorithmforwirepeelerofrobotincomplexpowernetworks |