| The power failure caused by the maintenance for high voltage transmission lines will not only bring trouble to people's life,industrial manufacture,but also lead to great loss for national economy.Therefore,a continuous electrical maintenance is needed for high voltage transmission lines.At present,undoubtedly,live-power working robot is the most feasible solution,which could replace or assist manual work for maintenance.In addition,the robot intelligent application and promotion is an important scientific project supported by our country from now on.Based on the deep study of situation at home and abroad for live maintenance robot especially the robot for bolt-on,a kind of voltage transmission lines robot which could fasten the bolt with strain clamp is proposed in this thesis,a prototype is manufactured as well.The robot can replace equal potential personnel to carry out live line maintenance work,and eliminate the personal safety hazard.Firstly,through the analysis for 110 kV,220kV and 500 kV transmission line electromagnetic field,the equal potential working method is used to solve the safety problem for the robot getting in and out the high electric field.Secondly,the kinematic equations and dynamic equations of Newton-Euler of the maintenance operations robot are established by calculating each joint force and torque.So the mechanical and electrical drive system of the robot joints can be designed.Thirdly,a novel architecture of nonlinear autoregressive moving average(NARMA)model based on wavelet neural networks(WNN)is presented.WNN has a strong self-learning ability to be well trained to identify the motor system.A controller based on the NARMA WNN could replace the traditional PID controller for brushless DC motor control.The simulation results show that using this method to control the brushless DC motor achieves a better control effect.Finally,the mechanical configuration of the robot is designed and a robot prototype is developed,an operational planning process of the robot is also designed in detail.Live-power fastening strain clamp bolt and other experiments are carried out on an analog line and a practical line.The results prove that the robot can complete related maintenance tasks.The control methods proposed in the thesis achieve the desired effect.And the robot has a strong ability to adapt to the work environment.It also provides much valuable experiences for further improvement,technological innovation and development of the robot in the future. |
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