【作者】 黄晨；

【导师】 钱桦； 肖爱平；

【作者基本信息】 北京林业大学 ， 机械工程， 2021， 博士

【摘要】 高压输电线路安全是经济发展的基石,有效的巡检是高压输电线路维护的重要作业之一,目前常用的人工巡检和航测巡检都不能满足实际的需求。智能线上巡检机器人与线路直接接触,能够自主在线上行走、越障,自动识别故障及隐患,实现高精度巡检;还可以对线路出现的部分损耗和故障进行维修,不仅能够提高巡检的质量和效率,还能提升维护和管理水平,对保证输电安全具有重要的意义。目前高压线路巡检机器人的研究已经取得了一定的成果,但仍有一些问题尚待解决,本文围绕关键技术,主要对一种新型被动式越障巡线行走机器人越障原理、结构设计及控制问题进行研究,并利用研制的样机对理论分析结果进行了验证,主要内容包括以下几个方面:(1)在综合分析国内外高压电线巡检机器人研究现状的基础上,提出一种新型被动式、穿越障碍物的高压线巡检机器人系统结构方案,实现巡检机器人在不脱离高压线的情况下穿越障碍物,简化机器人结构和控制,并提升机器人线上作业的平稳性和安全性。(2)规划了巡检机器人线上行走及越障运动策略,利用旋量理论构建运动学方程,分析了巡检机器人的夹爪、越障盘及压线器的末端运动姿态及运动学性能,并通过Adams软件仿真机器人的行走、越障过程,验证巡检机器人行走及“被动式穿越越障”机构的可行性。(3)基于正交实验设计和SPSS回归统计分析,以提升被动式越障性能的平稳性为依据,对越障盘的几何参数进行优化,建立了转子偏心距、曲面夹角和电机转矩之间的数学关系模型,为被动式越障盘的机构设计最优方案选择提供了依据。(4)提出了一种改进的基于遗传算法优化无模型自适应控制算法,能够精准控制机器人的运行速度和位置,而减少机器人线上运行的振动,并使用Matlab仿真验证控制算法;在此基础上自制一套伺服驱动运动控制器,并对比铭朗MLDS2410的控制器进行实验,验证自制控制器的有效性。(5)研制了一套被动式越障巡线行走机器人系统样机,搭建模拟110kv高压线的实验环境,完成巡检机器人在跨度4m,直径9mm的钢丝绳上的行走及越障试验。更多还原

【Abstract】 The safety of high-voltage(HV)transmission line is the cornerstone of economic development.Effective inspection,as one of the important maintenance tasks of HV transmission line,which is commonly divided into manual inspection and aerial inspection,cannot meet the actual needs.The intelligent on-line inspection robot in direct contact with the HV transmission line can walk and surmount obstacles independently on the line,automatically identify faults and hidden dangers,and realize highprecision inspection.In addition,the inspection robot can repair some losses and faults on the line,which can not only enhance the inspection quality and efficiency,but also improve the maintenance and management level.Therefore,it is of great significance to ensure the safety of power transmission.At present,some achievements have been made in the study on the HV line inspection robot,but there are still some problems to be addressed.Based on the key technology,this paper mainly explores the obstacle-surmounting principle,structure design and control of a new passive obstacle-surmounting inspection robot.The theoretical analysis results are verified by the prototype developed.This paper mainly contains the following contents:(1)Based on the comprehensive analysis on the research status of HV line inspection robot at home and abroad,a new structural concept of passive HV line inspection robot is proposed,which can surmount obstacles without breaking away from the line.This new structural concept simplifies the robot structure and control,so as to improve the stability and safety of the robot in online operation.(2)The online walking and obstacle-surmounting strategies of the inspection robot are planned.The kinematic equations are constructed based on the spinor theory to analyze the end motion posture and kinematic performance of the inspection robot’s claw,obstacle-surmounting disk and line presser.In addition,the walking and obstacle-surmounting process of the inspection robot is simulated by Adams software to verify the feasibility of the robot’s walking and “passive obstacle-surmounting” mechanism.(3)Based on the orthogonal experimental design and SPSS regression statistical analysis,the geometric parameters of the obstacle-surmounting disk are optimized in order to improve the stability of the passive obstacle-surmounting performance.The mathematical relationship model between the rotor eccentricity,the angle between the curved surface and the motor torque is established,which provides the basis for the optimal solution selection of the mechanism design of the passive obstacle-surmounting disk.(4)An improved model free adaptive control algorithm based on genetic algorithm optimization is proposed,which can be used to accurately control the running speed and position of the robot,and mitigate the vibration of the robot running on the line.The control algorithm is verified by Matlab simulation.Based on this,a set of servo driven motion controller is self-developed,of which performance is verified by comparing with MLDS2410 controller of MOSVO.(5)A prototype of passive obstacle-surmounting inspection robot is developed.In the simulated experimental environment of 110 k V HV line,the walking and obstacle-surmounting test of the developed robot is conducted on steel wire rope with a span of 4 m and a diameter of 9 mm.更多还原