Research on optimization method of climbing ability of inspection robots based on torque allocation
YANG Zhiyong
ZHANG Ziyu
ZHANG Changjin
ZHANG Chao
DUAN Hua
Abstract：[Objective]Aiming at the problems of easy slippage and insufficient environmental adaptability of high-voltage transmission line inspection robots during climbing,a real-time adaptive torque allocation method for front and rear walking wheel motors was proposed to improve the robot's climbing ability and operational stability.[Methods]Firstly,a static mechanical model of the robot's uniform climbing was established to derive the mapping relation between the driving torque of front and rear wheels and the climbing angle.Secondly,a dual-motor driven torque allocation system matching the gravitational load was designed.Finally,a control system based on the fuzzy neural network proportional-integral-derivative(PID)algorithm was constructed to dynamically correct the driving torque of front and rear wheels,keeping the slip rate within 0.2.[Results]Simulation and test results show that the method increases the robot's maximum climbing angle from 15° to 30°;compared with fuzzy PID and traditional PID control,the response speed of fuzzy neural network PID control is increased by 88.33%and 89.14%respectively,and the overshoot is reduced by 77.35%and 82.50%respectively;when the slope is 0°-30°,the slip rate of walking wheels is less than 0.2,which meets the requirements of inspection operations.
Keywords：Inspection robotClimbingSlip rateTorque allocationFuzzy neural network PID
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 120-128 )