| With the continuous development of science and technology and the continuous improvement of the modernization of social life,people's demand for electricity is getting higher and higher,and the issue of ensuring the stable operation of the power system has become more and more important.In the process of power transmission by the power grid,the substation serves as the distribution node and hub of the entire power transmission and transformation link.The stable operation of its internal equipment provides a strong guarantee for the society to maintain efficient operation and rapid economic growth.At present,it is necessary to hook up the ground wire first during the maintenance work.Most of the work methods are the maintenance workers holding the grounding pole to hang the ground wire operation work,and a few use the elevator ladder to lift the maintenance workers to the vicinity of the working point for hooking up.However,the handheld grounding wire method requires more manpower,longer work time,and arduous tasks.Especially when grounding wires are connected to high-voltage lines,manual operations are difficult to complete the task of accurately and efficiently hanging ground wires.However,the use of lifts and ladders puts maintenance workers within the scope of dangerous work,which poses certain safety hazards,and complete safety protection work must be done during operation.In recent years,with the continuous development of robotics and intelligent control algorithms,some robots have been used for internal operations in substations,but they mainly focus on the inspection of equipment or lines,and have not solved the problem of high-altitude operations on high-voltage lines.Therefore,designing a live working robot for high-altitude operations is an urgent problem to be solved at present,and it is bound to be one of the future development directions of smart grids.Aiming at the grounding wire operation requirements in the substation,this thesis designs a robot and control system for automatically hooking and disassembling ground wire in substation.Solve the problem of disconnecting and disconnecting grounding wires under different voltage levels in substations.At present,the robot can combine the positioning information of the robot with the position information of the operation according to the operation tasks issued by the substation scheduling management system.Afterwards,through the calculation of forward and inverse kinematics and B-spline interpolation algorithm,the robot arm hanging and dismantling path is planned and designed.The planned path parameters are optimized through the multi-objective genetic algorithm to complete the optimization of the robot path parameters to generate an optimal path under the goals of time and impact degree,and complete the driving of each joint through the underlying controller.The main research and work contents of this thesis are as follows:(1)System composition design.Based on the analysis and research of the main technical characteristics of the substation operation robot at domestic and foreign,combined with the task requirements and indicators of this subject,a structure that combines a lengthy manipulator arm and a crawler-type mobile car body for high-altitude operations is designed.(2)Motion model design analysis.According to the mechanical structure and joint parameters of the robot,the joint motion coordination and motion characteristics of the lengthy manipulator arm are analyzed.Robot modeling and simulation of the forward kinematics and the inverse kinematics analysis using MD-H parameter method.(3)Design of trajectory planning control method.In order to improve the self-adaptive ability of the robot in the substation environment,the robot can automatically plan a reasonable and accurate grounding and dismantling path.A trajectory planning control method based on the B-spline interpolation method to plan the basic path and optimize the trajectory parameters through genetic algorithm is designed.By setting critical path points and boundary conditions,a basic path is simulated,and information such as the angular velocity of the simulated path is used as the population of the genetic algorithm.The genetic optimization algorithm model is established,and the genetic population is optimized and evolved in combination with the optimization target.Finally,a weighted objective function is used to select a path trajectory parameter that meets the optimization target.(4)Control system design.Based on the research of the trajectory planning method,the control system of the robot is designed according to the modularized layered design mode.With the substation dispatching room,remote control computer and bottom motion controller as the three control cores,a distributed multi-layer complex control management system is designed.And integrate the established kinematics model and the designed trajectory planning algorithm into the internal control system,and verify its functionality and feasibility through actual tests.This subject researched the specific application of automated robots in substations.Taking the grounding and dismantling operations in substations as an example,a robot for automatic grounding and dismantling of substations and its control system were designed.Finally,a prototype test and a real machine test were carried out in a laboratory simulation environment and in a substation.The experiments were conducted to verify the ability to hook and remove the ground wire under manual operation and automatic operation.The feasibility,stability and effectiveness of functions such as remote control,trajectory planning,and autonomous disconnection of grounding wires in the control system are verified.The final experiment shows that the robot control system can effectively improve the level of automation in substations,improve the current level of intelligent operation,maintenance and repair of substations,and reduce the labor intensity of maintenance workers.It is of great significance to the future intelligent operation and maintenance of power grid systems. |
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