| The safety of high-voltage(HV)transmission line is the cornerstone of economic development.Effective inspection,as one of the important maintenance tasks of HV transmission line,which is commonly divided into manual inspection and aerial inspection,cannot meet the actual needs.The intelligent on-line inspection robot in direct contact with the HV transmission line can walk and surmount obstacles independently on the line,automatically identify faults and hidden dangers,and realize highprecision inspection.In addition,the inspection robot can repair some losses and faults on the line,which can not only enhance the inspection quality and efficiency,but also improve the maintenance and management level.Therefore,it is of great significance to ensure the safety of power transmission.At present,some achievements have been made in the study on the HV line inspection robot,but there are still some problems to be addressed.Based on the key technology,this paper mainly explores the obstacle-surmounting principle,structure design and control of a new passive obstacle-surmounting inspection robot.The theoretical analysis results are verified by the prototype developed.This paper mainly contains the following contents:(1)Based on the comprehensive analysis on the research status of HV line inspection robot at home and abroad,a new structural concept of passive HV line inspection robot is proposed,which can surmount obstacles without breaking away from the line.This new structural concept simplifies the robot structure and control,so as to improve the stability and safety of the robot in online operation.(2)The online walking and obstacle-surmounting strategies of the inspection robot are planned.The kinematic equations are constructed based on the spinor theory to analyze the end motion posture and kinematic performance of the inspection robot's claw,obstacle-surmounting disk and line presser.In addition,the walking and obstacle-surmounting process of the inspection robot is simulated by Adams software to verify the feasibility of the robot's walking and “passive obstacle-surmounting” mechanism.(3)Based on the orthogonal experimental design and SPSS regression statistical analysis,the geometric parameters of the obstacle-surmounting disk are optimized in order to improve the stability of the passive obstacle-surmounting performance.The mathematical relationship model between the rotor eccentricity,the angle between the curved surface and the motor torque is established,which provides the basis for the optimal solution selection of the mechanism design of the passive obstacle-surmounting disk.(4)An improved model free adaptive control algorithm based on genetic algorithm optimization is proposed,which can be used to accurately control the running speed and position of the robot,and mitigate the vibration of the robot running on the line.The control algorithm is verified by Matlab simulation.Based on this,a set of servo driven motion controller is self-developed,of which performance is verified by comparing with MLDS2410 controller of MOSVO.(5)A prototype of passive obstacle-surmounting inspection robot is developed.In the simulated experimental environment of 110 k V HV line,the walking and obstacle-surmounting test of the developed robot is conducted on steel wire rope with a span of 4 m and a diameter of 9 mm. |
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