The Research On Control System Of The Hight-voltage Transmission Lines De-icing Robot

Icing of transmission lines often causes faults. The faults caused by icing happen in many contries and result in huge economical loss. Traditional deicing methods represented by manual de-icing are inefficient and very unsafe. The robot works in special environment, so it needs a better control system. Taking deicing robot as the main study object, this thesis aims to conduct a series of studies on its control system.Firstly, the structure of transmission lines is introduced, and the character of ice is analyzed. Then the existing de-icing methods and the study condition of deicing robot are summarized in this paper.Secondly, two different structures of de-icing robot are proposesd. One is the single-body robot, the other is the three-arms robot, which can be used on the transmission lines and meet different operational requirements. The principles and characteristics of the de-icing institutions are focused on, then a mechanical analysis on the de-icing process is made, to calculate the energy consumption.Then, a design of the overall control system of the robot, combined with the upper and lower computer, is proposed. The system consists of IPC, PLC and motion control card. The single-body robot has a low control requirement, so the PLC as the lower machine is enough. The PLC system design is introduced, in detail. The hardware components and electrical connection diagram of PLC control system is given. The three-arms robot needs to acoss obstacle, so a combination of motion control card and PLC as the lower machine is adopted. The position-servo control system of the three-arms robot is designed and implemented.Finally, the PLC programming of the single-body robot is designed and completed in this article. The de-icing process of the single-body robot is designed, and the communication control program design based on the Modbus protocol between PC and PLC is discussed in detail. A software system of the de-icing robot is developed. The software system structure diagram and the definition of the required class are given in the paper. Based on the control rules of expert knowledge, the control flow sheet of the three-arms robot acrossing obstacles is designed. At last in the paper, the transmission lines simulation laboratory is introduced, and the experiment of single-body robot is successfully conducted.