Dynamic Modeling Of Transmission Line Inspection Robot And Its Vibration Characteristic Analysis

The stability of power is essential to economic development.To ensure the stable operation of the power system,transmission lines need to be inspected and maintained on a regular basis.Therefore,our research group designed an inspection robot that can walk on the transmission line.The robot walks safely and steadily on the transmission line and crosses various obstacles.It is necessary to analyze the stability of the inspection robot when it is moving.The current analysis of the stability of the inspection robot is only for the analysis of statics,and there are disadvantages such as inaccurate analysis and difficulty in analyzing some working conditions,so the actual effect of these analyses is not obvious.Based on the above reasons,this paper based on the inspection robot designed by this research group to model its kinematics and dynamics and analyze its stability under different working conditions.The main content of the paper includes the configuration analysis of the inspection robot,the analysis of the motion stability of the inspection robot,the analysis of the vibration characteristics of the inspection robot’s single-wheel walking,the analysis of the vibration characteristics of the inspection robot’s two-wheel walking,the vibration suppression under PID control,and the inspection Robot experiment analysis and other content.The work content of this article is as follows:(1)The configuration and motion stability of the inspection robot designed by this research group are analyzed.First,analyze the configuration of the inspection robot according to the background of the transmission line and the working environment,describe its working principle and working process,and then analyze its walking and obstacle-crossing process,and make trajectory planning for the obstacle-crossing process,and finally establish Based on the state space equation of the zero-point moment,the motion stability of the inspection robot is analyzed according to this equation and the trajectory of the inspection robot in the process of crossing obstacles.It can be seen from the analysis result that the planned trajectory meets its stability requirements,which proves that the designed mechanism and the planned trajectory are reasonable.(2)According to the single-wheel walking condition of the inspection robot,the singlewheel walking dynamics modeling is established,and the vibration characteristics of the singlewheel walking under different working conditions are analyzed.In view of the single-wheel walking conditions of the inspection robot in the process of overcoming obstacles,a singlewheel walking dynamic model of the inspection robot is established,and the dynamic performance evaluation index is established according to the input and output of the model,and the random input,catenary input and cycle are analyzed.Dynamic characteristics under signal input,and analyze the influence of parameter changes on dynamic characteristics.(3)Perform dynamic modeling and vibration characteristics analysis for the two-wheel walking of the inspection robot.Aiming at the two-wheel walking condition of the inspection robot during the inspection process,a five-degree-of-freedom two-wheel walking of the inspection robot considering the vertical displacement of the two traveling wheels and the overall displacement of the inspection robot in the vertical,pitch and roll directions is established Dynamic model,and establish the dynamic evaluation index of the inspection robot according to the input and output.According to the shape of the transmission line and the walking trajectory of the inspection robot,the input excitation of the straight-line walking phase,the downhill phase and the uphill phase are determined,according to the five-degree-offreedom dynamics The model and input excitation analyze the vibration characteristics of the inspection robot under three working conditions of straight walking,downhill and uphill,and analyze the influence of different contact parameters and input parameters on the dynamic characteristics.Establishing a simplified model of the inspection robot in ADAMS After setting the simulation parameters,the two walking wheels of the inspection robot and the overall vertical displacement of the inspection robot are obtained,and the simulation results obtained are combined with the output obtained by the established dynamic model.The comparison of the results shows the correctness of the established kinetic model.(4)Select the parameters of the PID control of the inspection robot,and analyze the vibration characteristics of single-wheel walking and double-wheel walking.In the one-wheel and two-wheel walking process of the inspection robot,in view of the limited improvement of the performance of the inspection robot by the dynamic parameters,a PID controller is added between the transmission line and the inspection robot,and the inspection after the controller is added is analyzed.The dynamic performance of the inspection robot is compared with the dynamics without a controller.It can be seen that the addition of a PID controller can significantly improve the dynamic performance of the inspection robot,which proves the effectiveness of the controller.(5)Test and analyze the inspection robot.According to the inspection robot prototype established by this research group,the motion analysis of the process of linear walking,downhill and uphill is carried out.At the same time,the Donghua tester is used to test the three kinds of work of the inspection robot in linear walking,downhill and uphill.The research results show that the inspection robot can walk stably and the vertical accelerations under the three working conditions are consistent with the simulation results,which proves the rationality of the established dynamic model.Through the above research,first analyzed the working principle of the inspection robot,planned the walking and obstacle-crossing methods of the inspection robot,and analyzed the motion stability of the inspection robot;then established the inspection robot’s single-wheel walking and two-wheel walking dynamics Model,analyze the dynamic performance of singlewheel walking and double-wheel walking under different working conditions,establish a dynamic model based on PID control and analyze its dynamic characteristics;finally design related experiments based on the prototype inspection robot designed by this laboratory Verify the rationality of the design and the accuracy of the dynamic model.