Speed control method of unpowered downhill for high voltage transmission line inspection robot

A speed control method of unpowered downhill was proposed combined with energy-consumed braking method and pulse width method (PWM) in order to improve endurance ability and reduce energy consumption of inspection robot. Downhill speed was controlled by adjusting the duty cycle of energy-consumed circuit so as to change the energy consumption. A condition judgment strategy based on model of overhead ground wire was proposed, and a variable universe fuzzy controller was used to control speed in real time. Experiments were conducted to verify the effectiveness of the above conclusions in both laboratory and real inspection environment. Results show that the proposed method can effectively control the robot unpowered downhill and save energy consumption. ©, 2015, Zhejiang University. All right reserved.