Research On The Magnetic Torque Balance Method For High-Voltage DC Inspection Robot Under Wind Load

Aiming at the problem that the inspection robot is easily affected by wind load when working on the transmission line,which leads to low inspection quality and operation safety,this thesis proposes a magnetic torque balancing method based on high-voltage DC magnetic field.The magnetic torque generated by the current-carrying coil being subjected to the ampere force in the magnetic field is used to balance the wind load torque and improve the stability of the body under the wind load,thereby improving the safety and effectiveness of the robot inspection.Based on the proposed theoretical method,this thesis has done the following researches:(1)The magnetic field characteristics of double-circuit and double-pole DC transmission line on the same tower are analyzed,and it’s proved that the circular magnetic field produced by a single high-voltage line can be treated as a stationary magnetic field.The overall design scheme of the inspection robot is described.In order to improve the stability of the body under the wind load of the robot,the magnetic torque balance method and its physical model are proposed and designed.(2)The force of the robot under wind load is analyzed,and the force acceptance formula of the robot body is deduced,in which the crosswind is the main factor affecting the posture of the robot.To overcome the problem that the robot body deviates under the crosswind and leads to the failure of the magnetic torque balance method,the magnetic alignment method and its physical model are proposed,the coaxiality of the body and the wire is adjusted by the ampere force of the coil in the magnetic field.(3)Based on the ANSYS Workbench platform,a simulation model of the robot in a wind environment is established.By using the fluid-structure interaction method,the crosswind torque of the robot under different wind directions is analyzed,and the maximum crosswind torque of the robot body under the minimum design wind speed of the high-voltage transmission line is 24.46 N·m.(4)Using the maximum crosswind torque value as a design indicator,the effects of structural parameters and coil magnetic field coupling on the magnetic torque model were simulated and analyzed in COMSOL,and the theoretical correctness of the magnetic torque balance method is verified by comparing it with the corresponding theoretical calculated values;Secondly,the simulation analysis of the magnetic alignment model under different posture states is performed,and the simulation results show that the model could provide a maximum ampere force of 123.170 N under extreme posture.Finally,the magnetic torque device is processed and installed in the inspection robot,which the charging experiment is performed under the environment of a simulated high-voltage line.The experimental results show that the proposed magnetic torque balance method is technically feasible.