Research on mechanism configuration and coordinated control for power distribution network live working robot

Abstract

Purpose In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh natural environment on the power system, which will lead to the occurrence of different faults in the distribution network and directly affect the normal operation of the power grid. Design/methodology/approach The purpose of this study is to solve the problems of labor intensity, high risk and low efficiency of distribution network manual maintenance operation, this paper proposed a new configuration of the live working robot for distribution network maintenance, the robot is equipped with dual working arms through the mobile platform, which can realize the coordination movement, the autonomous reorganization and replacement of the end tools, respectively, so as the robot power distribution maintenance function such as stripping, trimming, wiring and the operation control problem of the distribution network-robot with small arms and in small operation space can be realized. Findings To effective elimination or reduce the adverse effects of the internal forces in the closed chain between the working object and manipulator under the typical task of the 10 kV distribution network, this paper has established the robot coordinated control dynamics model in the closed-chain between the dual-working object and proposed the dynamic distribution method of closed-chain internal force and the effectiveness has been proved by simulation experiments and 10 kV field operation. Originality/value The force-position hybrid control can realize the mutual compensation of force and position so as to effectively reduce the internal force in the closed chain. Finally, the engineering practicality of the method is verified by field operation experiment, the effective implementation of this control method greatly improves the robot working efficiency and the operation reliability, the promotion and application of the control method have great theoretical and practical value and maintenance management system, so as to achieve automation of electric.

Distribution Network Grid Planning and Automatic Routing Based on Cluster Analysis Algorithm

“…Sharma and Kumar proposed the "blockchain chain" networking form, and the grid division has strong operability, however, the networking form is single, which cannot reflect the interconnection structure of substations under different geographical characteristics and different load densities, and lacks flexibility [6]. According to the different topographic features and different load density distributions in the planning area, Jiang and Xia studied several power supply models of distribution network, and proposed a variety of typical power supply models such as point, chain, and block, it provides a certain reference value for the target grid planning of the domestic target year (or prospect year); however, it does not involve the research on grid-based planning of distribution network, and how to combine it with grid-based planning needs to be further studied and clarified [2]. From the above literature, it can be seen that, at present, the overall content and process of grid planning research in various places are basically the same, mainly including status analysis, load forecasting, power grid division, and grid planning.…”

“…e early distribution network planning mainly includes the location and capacity determination of the substation, and the optimization of the grid structure, as shown in Figure 1. In recent years, the development of new technologies such as distributed generation Distributed Generation (DG) and energy storage and the implementation of demand side response, it greatly enriches the content of distribution network planning, and also has a lot of influence on the planning model and planning method of distribution network [2,3]. e addition of new participants in the electricity market environment has made the stakeholders in the distribution network more diverse, the traditional planning model that only considers one stakeholder of the distribution network operator has been expanded, at the same time, in order to reduce the adverse impact of new technologies being connected to the distribution network on the system, active management has been gradually applied in the distribution network, and a distribution network planning model that considers these new influencing factors in new scenarios emerges as the times require, the development of planning models has put forward new requirements for planning methods and solving algorithms, not only has it promoted the development of planning methods but some novel intelligent optimization algorithms have also been used to solve distribution network planning problems [4].…”

Control Parameter Optimization-Based Machining Control Technology of State-of-the Art Computer Numerical Control Machine Tools

“…Control Machine Tools [23,24]. Among them, the meaning of AC servo system is that the system contains AC asynchronous servo motor and permanent magnet synchronous servo motor.…”

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

“…The electric energy from power plants to the users has to go through three main sections, which are transformation (Yan et al, 2020), transmission (Seok et al, 2016) and distribution (Lai et al, 2019). Among them, ultra-high voltage transmission lines are important channels for long-distance transmission of electrical energy, and high-voltage transmission lines can be mainly divided into single line (Lai et al, 2020), double-split line (Pouliot et al, 2015), and a multi-split line (Shruthi et al, 2019), among which the multi-split line is the main force of power transmission.…”