| With the continuous development of China’s economy,the social demand for electricity continues to expand.At present,China’s total electricity consumption has ranked first in the world.In order to achieve efficient power dispatching,China has built the world’s largest network of transmission line.The huge network of power transmission line leads to the increasing pressure of the power company’s later maintenance work.The traditional inspection methods of power system,such as manual inspection and helicopter inspection,have the disadvantages of high labor intensity,low efficiency,low accuracy and high cost,which cannot meet the requirements of the power company.At this time,inspection robot appeared.At present,many domestic and foreign research institutions have proposed various types of inspection robots for the inspection of transmission lines,but the research on inspection robots is still in the laboratory or outdoor test and exploration stage of ideal lines.Up to now,inspection robot cannot be widely used in the actual inspection of transmission lines.The reason is that the existing inspection robot is difficult to deal with the complex environment of transmission line and the extreme natural environment independently,and its reliability is still low.Based on the existing problems of inspection robot,this thesis proposes a new auxiliary mechanism of inspection robot,which is called rotor system.The contents of this thesis include the configuration design,structure design,kinematics and dynamics analysis of the rotor system,focusing on the influence of the rotor system on the climbing performance and stability of the inspection robot under wind load.The main contents of this thesis are as follows:(1)Establish the configuration of rotor system and design the structure.Firstly,analyze the working environment of the transmission line and the terrain and climate that may appear in the inspection area,and get the design criteria that the robot can independently inspect.Then the configuration of the rotor system is proposed and its working principle is explained.The expression of the rotor tension is derived by using the blade element method,and the relationship between the rotor tension and the rotor speed is obtained,so as to control the rotor tension.According to the configuration of the rotor system,the specific structure is designed,and the rotor system is installed on the existing inspection robot to make it a new inspection robot.The related structure of the new inspection robot is introduced.Finally,according to the different positions and attitudes of the rotor system,the auxiliary functions of the rotor system for the inspection robot are described.(2)Analyze the kinematics and dynamics of the rotor system.Firstly,based on the D-H coordinate method,the D-H coordinate system of the four groups of rotor system installed on the inspection robot is established,and the position and attitude of the four groups of rotor relative to the global coordinate system are accurately described by solving the forward kinematics equation.Then,combined with the relationship between the rotor speed and the pulling force,the resultant force of the four rotor systems and the resultant moment around each axis of the global coordinate system are derived.Finally,the required torque of rotary joint motor and swing joint motor in rotor system is calculated by Lagrange dynamics method,which can provide reference for motor selection in subsequent rotor system manufacturing process.(3)Analyze the effect of rotor system on climbing performance of inspection robot.Firstly,by introducing the structure of sag in the transmission line,the necessity of sag is explained,and the influence of sag on the whole line inspection of inspection robot cannot be ignored is expounded.Then,the attitude planning of the inspection robot assisted by the rotor system is carried out to ensure that the pressure between the two walking wheels and the transmission line of the inspection robot is always the same when the rotor system is working.Through establishing the dynamic equation of the climbing process of the robot,the improvement effect of the rotor system on the climbing ability of the inspection robot is analyzed.Finally,the virtual prototype technology is used to simulate the climbing process of the inspection robot,which proves the correctness of the attitude planning results of the inspection robot and the effectiveness of the rotor system to improve the climbing ability of the inspection robot.(4)Analyze the influence of rotor system on the stability of inspection robot with wind load.Firstly,according to the wind speed monitoring situation of the set inspection section,the wind speed time history curve is obtained by using Weibull distribution function fitting,which is used as the wind speed model that the inspection robot may face in the field.The results show that the transverse wind load has the greatest impact on the inspection work of the robot.Then,the dynamic model of the inspection robot swing under the lateral wind load is established,and the fuzzy controller,PID controller and fuzzy PID controller are designed respectively.Finally,the simulation model is built in Simulink,and the three controllers are applied to suppress the inspection robot swing.The simulation results show that the different control effects of the three controllers can be obtained,At the same time,the simulation proves that the rotor system can effectively improve the anti-wind ability of the inspection robot with reasonable controller.(5)Made the prototype of rotor inspection robot and do related experimental research.3D printing technology is used to make prototype parts and assemble them.The climbing performance and stability under wind load of the rotor inspection robot are experimentally studied in the laboratory to verify the rationality of the structure design of the rotor system and the effectiveness of the rotor system in improving the performance of the inspection robot. |
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