A Diagnostic Machine on Power Transmission Lines: Configuration and Mechanical Challenges

Abstract

Для диагностики проводов линий электропередач (ЛЭП) создаются специальные машины-ав-томаты (ДМА). Их конструкция должна позволять двигаться с уклоном и преодолевать пре-пятствия. Но в работе ДМА возможны отказы из-за колебаний проводов. Даже при медленном движении машины могут возникать интенсивные колебания и связанные с ними значительные инерционные нагрузки. В статье представлена оригинальная ДМА и рассмотрены вопросы математического моделирования ее движения по проводам.МАШИНА-АВТОМАТ; ДИАГНОСТИКА ЛЭП; КОЛЕБАНИЯ СТРУНЫ; УРАВНЕНИЯ ЛАГРАНЖА; УПРУГАЯ НИТЬ; КОМПЬЮТЕРНАЯ МАТЕМАТИКА.In this article a novel inspection machine for high-voltage electrical line has been proposed and mathematical modeling issues of its movement along the conductors have been considered. In order to improve the mechanical mechanism and achieve dynamical stability to navigate through overhead electrical transmission lines, variation methods for problems of string have been considered. However, DMAs operation might be subject to failures because of the conductor vibration. Even in the case of slow movement of the machine, intensive vibrations and stipulated by them signifi cant inertial loading might occur. The behavior of the inspection machine while it is traveling through high-voltage electrical transmission lines has been studied.

Mechanics of robot inspector on electrical transmission lines conductors with unequal heights supports

“…In [10][11][12][13][14] the electrical line is considered as a stretched string where supports are located in one level of elevation. This assumption is true, as proved in [10] since the tension in the conductor line in the whole length of the line is constant. But in these works that the supports (electrical towers) are in different elevation, we cannot consider the electrical line as a stretched string, since the tension varies during the length of the line and it depends on the sag as well.…”

“…The equations of mechanics of thread are presented, in [15][16][17][18]. We use the method explained in [10,15].…”

“…1. As shown in [10][11][12][13][14] extensive oscillations may be revealed even the motion of robot inspector on the line was steady. As shown in abovementioned works, these types of vibrations are dangerous and may have effect on the performance of the robots (as an example: the blurry image which affect the system of navigation of the robot inspector).…”

Mechanics of Electrical Transmission Line Robot Inspector: Pendulum as a Dynamic Vibration Absorber

“…As experience and research shown in [2][3][4][5][6][7][8] very intensive fluctuations appear by the movement of the robot along the line. These vibrations occur even with the slow and steady motion of the diagnostic machine [10][11][12]. Since these fluctuations may cause inertia loads on the robot structure and may cause parametric oscillation in the vertical plane of the motion, designing a system to reduce the amplitude of vibration or even prevent is necessary [13][14][15].…”

Mechanics of diagnostic machine on electrical transmission lines conductors

“…However, the operation of such devices may be compromised because of the high ductility of the conductor [3][4][5][6][7][8][9]. Even with the slow movement of ADM, it is possible that the dangerous vibrations appear which are leading to failure or breakage [10][11][12][13][14]. Thus mathematical modeling of motion of ADM on the conductor is necessary at the design stage in order to select the appropriate options for reducing the cost of the experiment and to protect personnel.…”