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

doi:10.3969/j.issn.1008-0198.2026.04.011

Abstract

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

CLC Number:

YM754

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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