System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

Abstract

GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks.

No blind spot three-dimensional trajectory planning of unmanned aerial vehicle for substation inspection based on digital twinning

“…Flight path planning is the key link of UAV patrol inspection. Most of the flight path planning still stays in two-dimensional space, and the obstacle environment is relatively simple, so it is easy to have blind spots in UAV patrol inspection, which will affect the effect of substation patrol inspection [13][14][15]. In this paper, the three-dimensional track length and avoidance of UAV are regarded as important indicators of track cost, and the danger level of obstacles in the track is divided, so as to judge whether the planned track meets the requirements of substation inspection.…”

Autonomous obstacle crossing method of substation inspection robot based on locust optimization algorithm

“…The substation inspection robot is mainly composed of controller, drive motor and robotic arm. The remote management system issues control commands to the controller, and the drive motor adjusts the attitude of the robotic arm [5], while cooperating with the bottom drive roller to realize the inspection work. This paper takes the cantilever inspection robot as an example, and improves the stability of the robot in the process of obstacle crossing operation by adjusting the attitude angle between the jaws and the rollers of the robot arm.…”

“…The two-dimensional Gaussian scale space is derived by the above formula, and the image data of the sampled points are mapped one by one with the image key feature points, and the substation space obstacle image feature matrix is constructed by extracting the successfully mapped key points, assuming that the coordinates of the successfully extracted image key points in the horizontal and vertical directions are 𝐷 , then the matrix expression is shown in formula (5).…”

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

“…However, the robot can only move within $$\pm 20^\circ $$ owing to the lack of an adsorption mechanism (Ma, 2017; Ma et al, 2022). Researchers at the State Grid Corporation of China have improved the wheeled robot function for moving at higher positions in the GIS cavity by using adsorption equipment (Li et al, 2022; Pan et al, 2022; Yan et al, 2021). Team in the South China University of Technology designed and developed a quadrupedal wall‐climbing robot for GIS inner inspection in 2021 and carried out an experimental validation inside the GIS cavity (Li et al, 2021, 2023).…”