基于分层自适应扰动观测的绝缘子攀爬机器人抗扰控制方法研究OA

To address the challenge of motion stability control for insulator climbing robots operating at high altitudes under complex disturbances,such as strong wind loads and cleaning reaction forces,this paper proposes an anti-disturbance control method based on hierarchical adaptive perturbation observa-tion.Firstly,a bio-inspired quadruped climbing robot mechanism is designed,and its kinematic and dy-namic models are established using screw theory and Kane's method.Subsequently,the wind loads and cleaning disturbances are modeled in detail,and their coupling mechanisms is analyzed.On this basis,a composite controller integrating feedforward compensation,a nonlinear disturbance observer(Nonlinear Disturbance Observe,NDOB),and robust adaptive terminal sliding mode control(Robust Adaptive Termi-nal Sliding Mode Control,RATSMC)is developed,while a constraint elimination method is employed to resolve the redundant actuation problem of the system.Lyapunov stability analysis proves the uniform ulti-mate boundedness of the closed-loop system.Simulation results show that,compared with conventional PID control,the proposed method significantly reduces the body pose tracking error to within 1 mm and 0.01 rad,effectively suppresses control torque chattering,and exhibits stronger robustness and higher con-trol precision under time-varying nonlinear disturbances,providing an effective solution for stable opera-tion of insulator climbing robots.