Optimization control method of railway overhead contact system intelligent inspection robot based on Kalman filter

Abstract

In order to solve the problems of low control accuracy, poor real-time control and poor anti-interference of traditional methods, and realize the optimal control of railway catenary intelligent patrol robot, a new intelligent inspection optimization control method of railway overhead contact system based on Kalman filter was proposed. The quasi model of the robot’s motion process is first obtained by the least square method and converted into the equation of state. Then it is used as Kalman filter predictive estimator to identify the motion state of the robot. On this basis, according to the motion characteristics of patrol robot in the course of visual navigation, the mathematical model of control system is established. Then a fuzzy-optimal two-mode controller is designed by threshold switching to realize the optimal control of intelligent patrol robot. The simulation results show that the maximum control error of this method is 2.0%, the control time is short, and the anti interference coefficient of this method is basically maintained above 0.9. Compared with the traditional control method, this method has higher control accuracy and real-time performance, and effectively improves the performance of motion control.