Attitude Control of Wind Turbine Blade Repair Robot Based on Cascade PID

This paper proposes a control strategy based on cascade PID to solve the attitude control problem of a double-rotor wind turbine blade repair robot. Firstly, the robot's dynamic model is established by constructing a coordinate system, specifying motion parameters, and integrating its motion and control characteristics. Secondly, the cascade PID control model including position and velocity loops is built. Finally, the cascaded PID model is simulated in random wind noise. The results show that the attitude fluctuation of the robot can be effectively suppressed. It suggests a reliable control solution for the application of wind turbine blade repair robot.