Research On Wire Traction Technology Of Auxiliary Overhead Wire Replacement Robot

China’s power grid system is one of the largest and most complex power grid systems in the world.Due to its vast territory and complex terrain,many overhead transmission wires in China are in a very harsh environment,which is eroded by various harsh weather for a long time,resulting in damage or aging,threatening the safety of power grid operation.Therefore,damaged or aging wires must be replaced,otherwise,once the occurrence of wire failure may lead to the collapse of the power system,resulting in a large-scale blackout.The traditional manpower replacement method has the problem of high risk and low efficiency.It is an important research direction to solve this problem by using robot to assist electric workers to complete overhead wire replacement,which has positive significance.In this paper,the auxiliary overhead wire replacement robot is taken as the research object and its wire traction technology is studied.As for the wire traction mechanism of wire traction technology,a new "double disc" wire traction mechanism is designed to ensure that the wire will not slip through the design of clamping and bolt sleeve.For the dc servo system of wire traction technology: the hardware design of the brushless DC motor servo system suitable for robot overhead wire traction is carried out,and the PID control strategy is selected to control the speed and current of the brushless DC motor.Aiming at the problem of torque ripple of brushless DC motor,the mathematical model of brushless DC motor was established and the cause of torque ripple was analyzed.Two new torque ripple suppression methods were proposed,that is,Quasi-PWM＿ON＿PWM pulse width modulation method(Quasi-POP modulation method)and PID parameter optimization setting method.Among them,the Quasi-POP modulation method is based on the multi-hall sensor torque ripple suppression method,which can suppress the torque ripple in the full speed range.PID parameter optimization and setting method based on current closed-loop control method,the parameters of PID controller are optimized and set by beetle swarm optimization algorithm in order to enhance the control effect of PID controller and suppress the torque ripple.In addition,four improvements are made to beetle swarm optimization algorithm to further enhance the suppression effect of the PID parameter optimization setting method on torque pulsation.and select six classical test functions in the Matlab platform for performance testing,the day the herd of improved algorithms to verify the feasibility of the improvements.Simulation experiments were carried out on Matlab/Simulink platform to verify the suppression effect of Quasi-POP modulation method and PID parameter optimization method on torque ripple of brushless DC motor.The results show that the proposed Quasi-POP modulation method and PID parameter optimization setting method have good restraining effect on the torque ripple of brushless DC motor during normal operation.After the improvement of the beetle swarm optimization algorithm,the PID parameter optimization setting method can further improve the torque ripple suppression effect,and can further suppress the torque ripple of the brushless DC motor on the basis of the quasi-POP modulation method.The paper has 45 figures 7 tables and 90 references.