Research On Path Planning And Motion Control Technology Of Wind Turbine Inspection Robot

As the main component of wind turbines,the manufacturing cost of wind turbine blades accounts for about 1/4 of the total cost of wind turbines.Installation environment,natural disasters,fatigue damage and improper manual operation are easy to cause wind turbine blade failure,which will cause huge economic losses to wind farms and have potential safety hazards.Therefore,the daily damage detection of wind turbine blades is very important,and researchers are carrying out research on inspection robots,replacing manual inspection with inspection robots.This thesis mainly studies the path planning and motion control methods of such inspection robots,and proposes a path planning method for inspection robots based on static strength simulation analysis of wind turbine blades.Firstly,taking the 5MW wind turbine blade publicly released by Sandia National Laboratory as the research object,the aerodynamic load of the wind turbine blade is derived through the theoretical analysis of leaf momentum,the three-dimensional model of the wind turbine blade is established by the coordinate import method,and the finite element analysis software is used to mesh the meshing,material laying,load application and other processing,and the static strength stress cloud of the wind turbine blade required for the route planning environment modeling of the inspection robot is obtained by simulation analysis.Secondly,the stress cloud map is rasterized to obtain the global inspection path planning environment map of the inspection robot.On the basis of the traditional A* algorithm,the weight coefficient is introduced to improve the algorithm,the corner optimization of the planning results is carried out,and finally the planned route is smoothed by the cubic spline interpolation curve to reduce the path length and improve the search efficiency.Six different weight values were set by simulation software for experiments,and the optimal weight values were selected through comparative analysis,and two experiments,corner optimization and path smoothing,were carried out for the optimal results,so as to verify the optimization algorithm.Finally,a blade inspection robot model is established on the ROS platform and imported into Gazebo.The wind turbine blade model is set as a closed space,and the simulation environment model is constructed in the form of adding fixed obstacles to the wall and inside,and the motion control of the blade inspection robot is jointly simulated based on the improved A* algorithm by Gazebo and Rviz.The simulation results show that the improved A* algorithm in this thesis can obtain an optimized inspection planning route without collision,and can complete the established wind turbine blade inspection task.