Research On The Application Of Contactless Power Supply Technology In Power Supply And Navigation Of Power Inspection Robots

The substation is an important part of the power system and its ability to work safely and stably has a great impact on economic operation and people’s lives.In order to ensure the safety and reliability of electricity consumption,daily inspections of some important equipment in substations are required to prevent large scale power outages caused by damage to important equipment.With the progress and development of technology,substation inspection robots have gradually replaced manual inspection and solved many problems,such as complex terrain environment,bad weather,high risk factor and easy error or omission of inspection data.Most of the traditional inspection robots use battery power to last,and although they can automatically return and recharge when the power is too low,this reduces the efficiency to a large extent,and the frequent maintenance and replacement of the battery also increases the cost to a certain extent.This paper therefore uses a contactless power supply(CPT for short)to power the robot.The pre-buried power supply cable not only meets the power requirements of the robot,but also solves the problem of navigation and makes the robot simpler and more economical.The paper begins with a brief introduction to the structure and function of the power inspection robot,followed by an in-depth study of two main issues:firstly,improving the transmission efficiency of the system as much as possible in terms of contactless power supply technology;and secondly,designing a trajectory correction scheme to make the robot work and operate with as much accuracy as possible in terms of the navigation function of the inspection robot.In terms of improving the energy transfer efficiency,firstly,the separation transformer model built is studied to improve the output characteristics of the CPT system by adding compensation circuits,while the frequency splitting phenomenon that often occurs in CPT systems is studied,including the conditions under which it occurs and its impact on the system’s transfer efficiency,providing a theoretical basis for the suppression and exploitation of the frequency splitting phenomenon;in terms of the robot’s navigation function.Firstly,the alternating magnetic field generated by the power supply cable,which is the basis for the implementation of the deflection correction function,is analysed,including the analysis of the magnetic field distribution and the design of the signal detection scheme.The kinematic analysis of the inspection robot is followed by the design of a deflection controller based on the LQR linear-quadratic optimal control algorithm,and the design of the optimal controller is completed through simulation tests.The analysis results show that the LQR algorithm-based correction control model has better smoothness,speed and accuracy,and has certain practical significance in engineering design.