Dynamic walking characteristics and control of four-wheel mobile robot on ultra-high voltage multi-split transmission line

Abstract

High-voltage lines are an important channel for power transmission, and multi-split transmission lines are the main strength of power transmission. Compared with double-wheel single-wire maintenance robots, ultra-high-voltage multi-split transmission lines and four-wheel mobile robots have a wider application range and greater demand. The maintenance of multi-split transmission lines relies on the stable walking and control of four-wheel mobile robots on heterogeneous multi-split transmission lines. However, uncertain disturbance factors such as wind load in the complex field environment cause vibration of double-split and quad-split lines. The slight change in the line spacing causes the line contact to the edge of the robot’s walking wheel, which increases the friction during the robot’s walking. It also directly hinder the movement of the robot on the multi-split transmission line, thus restricting the completion of the robot’s maintenance operation. Based on the analysis, this paper establishes a mathematical model of the external force disturbance influence on the spacing of the double-split lines. At the same time, the robot walking mechanics characteristics model under the change of the line space has been established. Three different forms of the robot walking online have been obtained through abstraction processing. A method of side friction identification based on fuzzy control has been proposed, through the online monitoring of the friction between line and edge of the walking wheel, the robot walking wheel motor walking force can be intelligently controlled in real time, and effectively avoids the “wheel-line” jam phenomenon under the external uncertain factors in the field environment. Finally, the feasibility and engineering practicability of the method have been verified through MATLAB/ADAMS simulation and field operation experiments. Therefore, the automation and intelligence level of the operation and the transmission system maintenance management has been improved.

A Hierarchical Maintenance Method for Power System Transmission and Substation Multi-Equipment Operation Status Considering Equipment Service Age

“…To objectively measure the deterioration of the characteristic indicators from the actual data, it is necessary to first normalize these multidimensional and heterogeneous data resources before starting the research work in this paper. The lower the score is, the higher the degradation of the indicator and the higher the probability of the associated failure are [11].…”

Research on the design of high-voltage transmission line monitoring based on self-grouping MAC access

“…Combined with the wire temperature data, the theoretical load flow of the high-voltage transmission line wire is calculated, and the current wire load is judged according to certain criteria, so as to achieve effective monitoring of the transmission line, the specific implementation process is shown below [9][10][11][12][13] .…”

Research on automatic maintenance method of flexible maintenance robot for heating defects of high voltage transmission lines

“…[4][5][6], high-voltage transmission lines are prone to overload problems, resulting in heating defects, which will not only cause abnormal operation of transmission lines, but also may cause large-scale safety accidents. If the intelligent device can effectively identify and repair the heating defects of high-voltage transmission lines, it will greatly reduce the risk of overheating accidents [7][8][9][10] and the maintenance cost of high-voltage transmission lines. The research shows that in recent years, transmission and distribution accidents caused by heating defects of high-voltage transmission lines occur frequently, and the comprehensive loss is far more than 10000 yuan.…”