Design and testing of high-voltage ground wire repair robot based on adaptive sliding mode control strategy

Abstract High-voltage ground wire repair robots play a critical role in the maintenance of power lines, where the precision of motor control and the reliability of mechanical structures directly impact the robot's repair efficiency and job safety. This paper improves the robot from both the control algorithm and mechanical structure aspects. To enhance the control accuracy of the motors used in high-voltage ground wire repair robots, based on the adaptive sliding mode controller designed in this paper, the robustness of sliding mode control is combined with adaptive adjustment of the control of sliding mode. Control is combined with adaptive adjustment to improve the system's adaptability to parameter variations and external disturbances. Furthermore, an improved phase-locked loop (PLL) is proposed. Improved phase-locked loop (PLL) control is proposed to achieve better rotor position tracking. Simulation and experimental results show that the proposed control strategy has a faster dynamic response and higher control accuracy compared to traditional control methods, effectively enhancing the quality of ground wire repair work and the reliability of the robot's operation. Finally, this paper designs the ground wire breakage repair device and pre-stranding winding device for the high-voltage ground wire repair robot and completes their fabrication. Test results indicate that the robot can efficiently and accurately complete ground wire repair work with control commands responding quickly and accurately, and the repair effects are satisfactory.