面向配电网电杆组立施工的钻孔立杆机自适应轨迹跟踪控制研究

doi:10.3969/j.issn.1008-0198.2026.04.011

湖南电力 ›› 2026, Vol. 46 ›› Issue (4): 79-88.doi: 10.3969/j.issn.1008-0198.2026.04.011

面向配电网电杆组立施工的钻孔立杆机自适应轨迹跟踪控制研究

贺继林¹, 陈伟², 杨淼³, 殷鹏³

1.中南大学机电工程学院,湖南长沙 410012;
2.湖南省湘电试验研究院有限公司,湖南长沙 410208;
3.国网湖南省电力有限公司电力科学研究院,湖南长沙 410208

收稿日期:2025-11-21 修回日期:2026-05-29 出版日期:2026-08-25 发布日期:2026-09-11
作者简介:陈伟（1985）,男,湖南邵阳人,高级工程师,研究方向为配电设备材料及检验检测技术。
基金资助:
国网湖南省电力有限公司科技项目(5216A5220024)

Research on Adaptive Trajectory Tracking Control of Pole Drilling and Erecting Machines for Distribution Network Pole Erection Construction

HE Jilin¹, CHEN Wei², YANG Miao³, YIN Peng³

1. School of Mechanical and Electrical Engineering, Central South University, Changsha, 410012, China;
2. Hunan Xiangdian Test and Research Institute Co., Ltd., Changsha, 410208, China;
3. State Grid Hunan Electric Power Company Limited Research Institute, Changsha, 410208, China

Received:2025-11-21 Revised:2026-05-29 Online:2026-08-25 Published:2026-09-11

摘要/Abstract

摘要： 为提高配电网电杆组立施工与电力设备转运作业的自动化水平,针对钻孔立杆机在高速转场过程中存在的轨迹跟踪精度不足与稳定性较差的问题,提出一种融合时域参数自适应与权重矩阵动态优化的自适应轨迹跟踪控制方法。首先,基于二自由度误差模型构建适用于电力施工机械的预测控制架构,分析定参数控制器在车速变化时对电杆精确定位及设备稳定转运的性能限制。在此基础上,针对中高速工况下系统动态响应与稳定控制之间的矛盾,提出一种时域参数模糊自适应调节策略,并结合改进粒子群算法实现权重矩阵的在线优化,通过预测时域与控制时域的动态匹配,以及权重矩阵的实时调整,增强控制器对不同车速下电力施工任务的适应能力。通过联合仿真实验模拟钻孔立杆机在典型电力施工路径下的双移线跟踪工况。实验结果表明,所提控制方法在中、高车速工况下的最大横向偏差分别降低了81.4%与55.1%,显著提升了电杆组立与设备转运过程中的轨迹跟踪精度与综合控制性能。

关键词: 钻孔立杆机, 轨迹跟踪, MPC, 时域参数自适应, 遗传算法

Abstract: To enhance the automation level of distribution network pole erection construction and power equipment transport operations, aiming at the problems of insufficient trajectory tracking accuracy and poor stability during high-speed transfer of pole drilling and erecting machines, an adaptive trajectory tracking control method integrating time-domain parameter adaptation and weight matrix dynamic optimization is proposed. Firstly, based on a two-degree-of-freedom error model, a predictive control architecture suitable for power construction machinery is constructed, and the performance limitations of fixed-parameter controllers on precise pole positioning and stable equipment transport during vehicle speed changes are analyzed. On this basis, to address the contradiction between system dynamic response and stable control under mediumand high-speed conditions, a fuzzy adaptive adjustment strategy for time-domain parameters is proposed, combined with an improved particle swarm optimization(PSO) algorithm to achieve online optimization of the weight matrix. Through dynamic matching of the prediction time domain and control time domain as well as real-time adjustment of the weight matrix, the controller's adaptability to power construction tasks under different vehicle speeds is enhanced. Finally, based on a CarSim-Simulink co-simulation platform, double lane change tracking conditions of a pole drilling and erecting machine under typical power construction paths are simulated. Experimental results show that the proposed control method reduces the maximum lateral deviation by 81.4% and 55.1% under medium-and high-speed conditions, respectively, significantly improving trajectory tracking accuracy and comprehensive control performance during pole erection and equipment transport.

Key words: pole drilling and erecting machine, trajectory tracking, model predictive control(MPC), time-domain parameter adaptation, genetic algorithm

中图分类号:

YM754

贺继林, 陈伟, 杨淼, 殷鹏. 面向配电网电杆组立施工的钻孔立杆机自适应轨迹跟踪控制研究[J]. 湖南电力, 2026, 46(4): 79-88.

HE Jilin, CHEN Wei, YANG Miao, YIN Peng. Research on Adaptive Trajectory Tracking Control of Pole Drilling and Erecting Machines for Distribution Network Pole Erection Construction[J]. Hunan Electric Power, 2026, 46(4): 79-88.

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面向配电网电杆组立施工的钻孔立杆机自适应轨迹跟踪控制研究

Research on Adaptive Trajectory Tracking Control of Pole Drilling and Erecting Machines for Distribution Network Pole Erection Construction

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