CN109848993A - One kind is for flexible electrical line of force robot for overhauling posture control method under wind load action - Google Patents
One kind is for flexible electrical line of force robot for overhauling posture control method under wind load action Download PDFInfo
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Abstract
The present invention relates to one kind for flexible electrical line of force robot for overhauling posture control method under wind load action, realize power line drainage plate upkeep operation robot in flexible circuitry, wind load, Pose Control under strong-electromagnetic field effect, pass through the foundation of the oblique parabola model of high voltage electricity transmission conductive wire, it is deduced the mathematical relationship expression formula of flexible wire arc sag Yu line construction parameter, by the foundation for rolling model under wind load action, it is deduced the mathematical relationship expression formula of robot angle of wind deflection and wind load, pass through the approximate processing to robot in strong electrical field, the equivalent-circuit model of robot disengaging electric field is obtained；BP neural network closed loop controller is finally devised, by the dynamic regulation of closed-loop control system, effectively reduces the influence of Flexible Environment, wind load, strong-electromagnetic field for robot pose.Implementation of the invention effectively improves robot for the adaptivity of operating environment and the intelligence of robot manipulating task process.
Description
Technical field
The present invention relates to one kind for flexible electrical line of force robot for overhauling posture control method under wind load action, belongs to intelligence
It can power grid and power system industry field.
Background technique
High-tension electricity cable is the important channel of electric energy transmission, aerial suspension, high voltage, high current and it passed through
It goes through across great rivers, pass through the special geological surrounding on high and steep mountains and virgin forest and severe natural environment will lead to route
Upper damper displacement and corrosion, insulator contamination, conducting wire broken lot and stranded, strain clamp drainage plate/conductor spacer bolt looseness etc.
A variety of different faults occur.In addition, practical transmission line of electricity leads to line hardware structure due to various factors such as construction difference, maintenances
Size changes, and existing simultaneously foreign matter suspension, fitting deformation and dystopy etc. leads to the appearance of heterogeneous line hardware, it is above-mentioned with
Machine and uncertainty form the extreme operating environment of high-tension electricity, seriously affect the power supply quality of whole route, to ensure high pressure
The safe normal table of transmission line of electricity is run, and is needed periodically and is aperiodically carried out maintenance dimension to conducting wire fitting and its running environment
Shield and construction operation.A kind of effective ways instead of manually carrying out upkeep operation are to carry manipulator using mobile robot
And its end-of-arm tooling, i.e. electric power overhaul Work robot.By the operation function of years of researches and development electric operating robot
Can be gradually diversified, system platform equipment is gradually improved and maturation, and at the same time, operation intelligence problem, which gradually becomes, restricts it
It is led in the extreme operating environment of one of power system practical and the main bottleneck of popularization and application, especially high-tension electricity such as flexibility
More stringent requirements are proposed for operation intelligence for line, RANDOM WIND load, strong-electromagnetic field etc., therefore robot is in high-tension electricity pole
Pose motion control under end ring border has most important theories value and practical significance.
Robot posture control method is the operating mode under traditional PID control mostly at present, and is difficult to adapt to high pressure
The especially big influence of flexibility, wind load, strong-electromagnetic field for Pose Control of the specific operating environment of transmission line of electricity.Therefore, originally
Invention proposes one kind for flexible electrical line of force robot for overhauling posture control method under wind load action, and robot can be improved
The intelligent behavior ability of adaptivity and enhancing robot for severe operating environment.
Summary of the invention
The technical problems to be solved by the invention are to provide one kind and overhaul machine for the flexible electrical line of force under wind load action
People's posture control method, can flexible wire, wind load, high pressure strong electromagnetic, different line construction parameter and field not
In deterministic situation, robot Pose Control is realized, improve robot for the adaptivity and operation of itself operating environment
The intelligence of process.To achieve the goals above, this invention takes following technical schemes.
The invention proposes the hierarchical control architectural frameworks of the whole network electric operating robot first.By to the whole network power transmission line
Road operating status comprehensive assessment can be found that its possessed space, logic distribution character are the important of power transmission lines overhauling operation
Feature is the complication system being made of multiple subprocess, institute from route bottom state data acquisition to line upkeep decision
Foundation and realization with the Maintenance of Electric Transmission Line system based on Power Robot are a kind of solutions of distributed problem, and key is
Pose motion control is coordinated in effective control of robot system, main acquisition and multi-joint including robot operating status.Entirely
The control architecture of net electric operating robot as shown in Figure 1, the whole network electric system is made of the different transmission line of electricity of n item,
Equipped with 1 robot for overhauling on every route, every robot works in operation field and line fault is safeguarded and made
Industry, bottom operating status are obtained by signal processing unit and technical grade A/D sampling card, and by 4G wireless network transmissions to line
The robot control base station of road transport row department monitoring center, circuit monitoring center pass through public network phase with districts and cities innings monitoring center again
Even, the shared of resource and information is realized, meanwhile, monitoring center can send control instruction to bottom by wireless network and realize machine
The motion control of people can be carried out two-way simultaneously by above-mentioned this mode monitoring center with the robot under site work environment
Data and information exchange, thus formed one by transmission line operation environment-Trinitarian electricity of robot-monitoring center
Net intelligent operation and maintenance platform.In this platform, the effect of robot is that auxiliary or substitution are artificial, can be substantially reduced
Operating risk improves operating efficiency, the intelligent management for realizing network system and operation.
Secondly the invention proposes the oblique parabola models and its calculation method of flexible wire.Flexibility is illustrated in figure 2 to lead
Bank, which hangs down, influences schematic diagram for robot Pose Control, wherein (a) figure is the schematic diagram in the case of desired stiffness, conducting wire is without arc
It hangs down, (b) figure is compliance conducting wire, and since arc sag occurs in robot self weight flexible wire, entire body includes operation end
Have dropped H.Relevant parameter is carried out using the mathematical model that oblique parabolic formula establishes aerial condutor for general transmission pressure
It calculates, if Fig. 2 (c) show the oblique parabola model figure of aerial condutor, A, B are respectively the connection of conducting wire Yu adjacent cross arm of tower
Point, using tie point A as coordinate origin, since robot can be abstracted as a reason for the transmission pressure of large pitch
Think particle, thus machine human organism dropping distance H caused by flexible wire can approximate representation be (1) formula.
The invention proposes the robots under wind load action to roll model and its angle of wind deflection calculation method again.Such as Fig. 3
It is shown the inclination schematic diagram of robot under wind load action, wherein 3 (a) figures are ideally to illustrate without wind load action
Figure, robot is without inclination, and 3 (b) figures are under practical wind load action, and due to wind-force, entire body includes that operation end occurs
Angle of heel θ.Assume that conducting wire rigidity influences very little to the catenary configuration of conducting wire when studying wind load and controlling robot and influence, two
Aerial earth wire between suspension point can be approximately a hinged soft chain everywhere, establish robot architecture under wind action and join
Shown in exponential model such as Fig. 3 (c), pass through the windage yaw of the available wind-force size of force analysis and robot under wind load action
Angle is respectively (2) formula and (3) formula.
Finally the invention proposes the equivalent-circuit models of robot disengaging electric field.Robot loads onto line process in insulating hanging
In, since insulating cord has preferable insulation performance, the Leakage Current for flowing through machine human organism at this time is smaller, but works as machine
People in hoisting process gradually close to live wire when, the electromagnetic induction effect between robot and conducting wire is more more and more intense,
Space field strength is also higher and higher, when the space between robot and manipulating object or conducting wire is less than limiting threshold value, air
Dissociation can occur, atmospherical discharges phenomenon occurs between robot and manipulating object or conducting wire, and generate electric arc and sound,
When the online completion of robot, robot is integrated completely with operating environment, and the two will be in same current potential, passes through above-mentioned analysis
Know that robot and the equipotential process of conducting wire can generate biggish transient state capacitor and discharge current, therefore available robot
Equivalent circuit diagram during online when disengaging electric field is as shown in Figure 4.Wherein UcPotential difference between robot and operating environment,
Equivalent capacity of the C between robot and operating environment, R is the equivalent resistance of robot, close to band during robot is online
When electric lead, air is ionized, and forms a discharge loop, and electric discharge moment is equivalent to switch k connection, and discharge current is initial
Value is (4) formula.
Due to using above technical scheme, the present invention is a kind of for flexible electrical line of force robot for overhauling under wind load action
Posture control method has the advantage that
(1) posture control method in the present invention has fully considered that Flexible Environment, high-altitude wind load, strong-electromagnetic field etc. are multiple
The influence of interference and uncertain factor for robot motion's pose, by the control method robot for itself operation ring
The adaptability and system robustness in border greatly improve；
(2) posture control method in the present invention takes full advantage of the None-linear approximation characteristic and its depth of neural network
Practise theoretical, there is very strong adaptability and learning ability for transmission line of electricity different structure line parameter circuit value, operating efficiency and
Operation intelligence is higher；
(3) posture control method in the present invention is mainly realized by software systems, therefore is saved to a certain extent
System hardware consumption, can be effectively reduced the cost of exploitation actual power line robot for overhauling physical prototyping and control system；
(4) posture control method in the present invention has stronger versatility, can be applied not only to Special high-voltage electricity
Line of force upkeep operation robot can also be applied to the Pose Control of other industry or civilian robot.
Specific embodiment
The basic structure of robot neural network closed-loop control system is as shown in figure 5, be the accurate pose for realizing robot
Control needs the influence of uncertainty and disturbance for motion planning and robot control under real-time compensation specific environment, neural network
It can be mended by robot pose under BP network implementations actual job environment with stronger None-linear approximation characteristic, therefore herein
The mapping relations for repaying joint control variable Yu robot environment's parameter, using the Three Tiered Network Architecture form of standard, due to specific
The flexible conducting wire of major influence factors, wind load, strong-electromagnetic field under environment, therefore the input of BP network is chosen for 3 nodes,
It is that motion positions of the joint variable value O for both arms of robot control due to exporting, and double work jibs totally 7 joints additional one
A walking joint, therefore, the output of BP network are chosen for 8 nodes.In order to guarantee the speed and output result of BP network training
Precision chooses hidden layer node and is 15 obtained BP neural network controller architectures and is packaged to it nerve net can be obtained
Network controller, the joint motions that its output is used to control robot pass through measurement to obtain new robot pose at this time
The new arc sag of the acquisitions such as pick-up device such as obliquity sensor, magnetic sensors, angle of wind deflection, space field strength, and with ideal given value
It is compared to obtain control deviation and the input as nerve network controller, by taking turns dynamic regulation until error meets control more
Until demand processed, entire closed loop control process terminates.
The foregoing is merely the general embodiments of the invention patent, are not intended to limit the scope of the invention, all
It is that equivalent changes and modifications within the scope of the patent application of the present invention, is applied directly or indirectly in relevant technical field, all
It should belong to the covering scope of the invention patent.
Detailed description of the invention
Fig. 1 is the hierarchical control architectural framework schematic diagram of the whole network electric operating provided by the invention robot；
Fig. 2 is that flexible wire arc sag provided by the invention influences schematic diagram for robot Pose Control；
Fig. 3 is the inclination schematic diagram of robot under wind load action provided by the invention；
Schematic equivalent circuit when Fig. 4 is disengaging electric field during robot provided by the invention is online；
Fig. 5 is the basic structure schematic diagram of robot neural network closed-loop control system provided by the invention.
Claims (3)
1. one kind is for flexible electrical line of force robot for overhauling posture control method under wind load action, it is characterised in that make to entire
3 robot pose influence factors during industry motion control are modeled and have been analyzed, it may be assumed that the arc sag of flexible transmission conducting wire
Mathematical model, the inclination mathematical model of robot under wind load action, space strong-electromagnetic field act on the equivalent circuit of lower robot
Model.
2. a kind of according to claim 1 be used for flexible electrical line of force robot for overhauling posture control method under wind load action,
Wherein the arc sag mathematical model of flexible transmission conducting wire is by carrying out oblique parabola simulation to flexible wire, by oblique parabolic line geometry
Obtained from feature and line construction parameter.Wherein under wind load action robot inclination mathematical model, be to pass through wind load
Under force analysis, and obtained the relationship of robot windage yaw angle of heel and wind load size and geometrical structure parameter, wherein
The equivalent-circuit model that space strong-electromagnetic field acts on lower robot is analyzed to obtain by space field strength characteristics.
3. a kind of according to claim 1 be used for flexible electrical line of force robot for overhauling posture control method under wind load action,
A kind of robot motion's posture control method based on BP neural network is proposed, with robot conducting wire sag, angle of wind deflection, space
Input signal of the field strength as BP network, by the training and study of network, the control variable of output is used for Compensating Robot machine
The actual job pose of tool hand, compared with regulatory PID control, this method real-time is higher, and stability is good, while having and being easy to extension
Significant properties.
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| CN201910125033.1A CN109848993A (en) | 2019-02-20 | 2019-02-20 | One kind is for flexible electrical line of force robot for overhauling posture control method under wind load action |
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| CN201910125033.1A CN109848993A (en) | 2019-02-20 | 2019-02-20 | One kind is for flexible electrical line of force robot for overhauling posture control method under wind load action |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111815797A (en) * | 2020-07-06 | 2020-10-23 | 南方科技大学 | Monitoring device for power inspection robot |
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| CN108710763A (en) * | 2018-05-22 | 2018-10-26 | 国网江西省电力有限公司经济技术研究院 | 220kV power transmission line column line couple system icing emulation modes |
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| CN101954638A (en) * | 2010-10-18 | 2011-01-26 | 湖南大学 | Automatic line-grasping control method of deicing robot in high-voltage transmission line |
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Application publication date: 20190607 |