CN114597814A - Potential transfer model modeling and parameter control method of live working robot - Google Patents
Potential transfer model modeling and parameter control method of live working robot Download PDFInfo
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Abstract
The invention discloses a potential transfer model modeling and parameter control method of a live working robot, which comprises the steps of respectively carrying out equivalent circuit modeling aiming at the state of the live working robot before potential transfer and the state of the live working robot during potential transfer by analyzing the equipotential process of the live working robot of a high-voltage transmission line, the potential transfer model and the control method of the potential transfer model parameters are provided for determining the equipotential distances, the potential transfer arm parameters and the potential transfer time of different live working robots of the high-voltage transmission line, the foundation is laid for the electromagnetic protection and design of the live working robots, the model basis is provided for researching the equipotential safety distances, the transfer current mechanism and the electromagnetic protection measures of the live working robots of the high-voltage transmission line, the method is suitable for the equipotential process of the online and offline of various high-voltage transmission line live working robots, and provides a theoretical basis for researching the electromagnetic protection measures of the high-voltage transmission line live working robots.
Description
Technical Field
The invention relates to a live working robot, in particular to a potential transfer model modeling and parameter control method of the live working robot.
Background
The reasonable and efficient operation and maintenance of the high-voltage transmission line is a main means for ensuring the safe and stable operation of the high-voltage transmission line. At present, the maintenance is mainly carried out by means of manual power failure, the economic loss is large, the labor intensity of manual live working is large, the danger is high, in addition, the normalization of the live working is difficult to realize due to the serious shortage of professional personnel of the live working. The robot is a powerful means for realizing live working, but the robot inevitably experiences equipotential in the process of getting on and off the power transmission line. In the equipotential process, in the process that an equipotential transfer rod and a power transmission line approach, air breakdown shows that the corona discharge is changed into the gap arc discharge until the arc discharge is continued, the generated transfer current is instantaneous large-current pulse, and the robot can be influenced in a radiation or conduction mode, so that the robot cannot work normally. Therefore, in order to prevent the transfer current from being conducted or radiated in the form of electromagnetic waves and entering the cavity through the hole seam of the shielding case in a coupling manner, so that interference is caused to electronic devices and normal operation of the robot is hindered, the equipotential process of the live working robot of the power transmission line needs to be analyzed, the safe transfer distance of potential transfer, the contact impedance parameter of the potential transfer arm and the safe transfer time of the potential transfer in the process of getting on and off the line of the robot are determined, and stable and reliable operation of the live working robot is ensured.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention aims to provide a potential transfer model modeling and parameter control method for a live working robot, which aims to lay a foundation for the electromagnetic protection and design of the live working robot by providing a potential transfer model and a control method for determining the equipotential distances, potential transfer arm parameters and potential transfer time of different live working robots of a high-voltage transmission line, provide a model basis for researching the equipotential safety distances, transfer current mechanisms and electromagnetic protection measures of the live working robot of the high-voltage transmission line, can be suitable for the equipotential processes of the online and offline of various live working robots of the high-voltage transmission line and provide a theoretical basis for researching the electromagnetic protection measures of the live working robot of the high-voltage transmission line.
In order to solve the technical problems, the invention adopts the technical scheme that:
a potential transfer model modeling and parameter control method of a live working robot comprises the following steps:
1) before potential transfer for live working robotAccording to the state of the equivalent circuit, establishing the equivalent circuit of the live working robot before potential transfer according to each capacitor in the equivalent circuit and the interphase capacitor of the power transmission line, and obtaining a fitting function between each capacitor in the equivalent circuit and the distance d between the target phase power transmission line and the live working robot by simulating the process of the live working robot going up and down and respectively fitting; equivalent the target phase transmission line and the electric field environment of the live working robot into uneven bar plate gaps, substituting the average breakdown field intensity of the uneven bar plate gaps into a fitting function between each capacitor in an equivalent circuit and the distance d between the target phase transmission line and the live working robot, calculating the distance d between the target phase transmission line and the live working robot when the critical breakdown field intensity is taken as the equipotential safety distance of the live working robot, and calculating the peak value I of the equipotential pulse current of arc dischargem；
2) Aiming at the state of the live working robot during potential transfer, the capacitance between the live working robot and the power transmission line of a target phase is replaced by three parallel branches on the basis of an equivalent circuit before the potential transfer of the live working robot, wherein one parallel branch is the mutual capacitance between the power transmission line of the target phase and an equipotential transfer rod of the live working robot, one parallel branch is the mutual capacitance between the live working robot and the power transmission line of the target phase, and one parallel branch consists of a switch K, a resistor R and an inductor L, wherein the resistor R is a contact resistance parameter of the equipotential transfer rod, the inductor L is the inductor on the robot and the equipotential rod, the switch K is disconnected to charge the two mutual capacitances when the equipotential transfer rod of the live working robot does not generate arc discharge, and the switch K is closed when the equipotential transfer rod of the live working robot generates arc discharge, the two mutual capacitors discharge on the resistor R and the inductor L to form an RLC second-order discharge loop, and transfer current of arc discharge between the live working robot and the target-phase power transmission line is obtained according to a discharge process model of the RLC second-order discharge loop;
3) the method comprises the steps of determining safe transfer time of the live working robot during potential transfer according to voltage between the live working robot and a target phase power transmission line, transfer current of arc discharge and bearing energy W of an equipotential transfer rod, and determining material parameters of a front end material of the equipotential transfer rod according to the bearing energy W of the equipotential transfer rod and bearing temperature T of the front end material of the equipotential transfer rod during potential transfer of the live working robot.
Optionally, the power transmission line in step 1) is a power transmission line on a same-tower double-circuit power transmission line, wherein the power transmission line on the same-tower double-circuit power transmission line is divided into three layers, the lowest layer is a phase C, the middle layer is a phase B, and the topmost layer is a phase a; and aiming at the C-phase power transmission line, an equivalent circuit before potential transfer of the live working robot is established as follows: the point Q on the C-phase power transmission line sequentially passes through the capacitor CC1Capacitor CC2Ground, capacitor CC1Capacitor CC2The point between is the position of the live working robot, the capacitance CC1For the capacitance between the live working robot and the C-phase transmission line, the capacitance CC2Phase voltage U of C phase for earth capacitance of live working robotCAs an equivalent power supply between point Q and ground; the equivalent circuit before potential transfer of the live working robot is established for the B-phase power transmission line as follows: the point Q on the B-phase power transmission line sequentially passes through the capacitor CB1Capacitor CB2Capacitor CCGround, capacitor CB1Capacitor CB2The point between O is the position of the live working robot, the capacitance CB1For the capacitance between the live working robot and the B-phase transmission line, the capacitance CB2For the capacitance between the live working robot and the C-phase transmission line, the capacitance CCA ground capacitance of the C-phase transmission line, and a phase voltage U of B, C phasesBCAs point Q and capacitor CB2Capacitor CCEquivalent power source between intermediate nodes, phase voltage U of C phaseCAs a capacitor CB2Capacitor CCAn equivalent power supply between the intermediate node between and ground; the equivalent circuit before potential transfer of the live working robot is established for the A-phase power transmission line and comprises the following steps: the point Q on the A-phase power transmission line sequentially passes through the capacitor CA1Capacitor CA2Capacitor CBGround, capacitor CA1Capacitor CA2The point between O is the position of the live working robot, the capacitance CA1For live working robots and ACapacitance between transmission lines of phases, capacitance CA2For the capacitance between the live working robot and the B-phase transmission line, the capacitance CBA ground capacitance of the B-phase transmission line, and a phase voltage U of A, B phasesABAs point Q and capacitor CA2Capacitor CBEquivalent power source between intermediate nodes, phase voltage U of B phaseBAs a capacitor CA2Capacitor CBThe equivalent power between the intermediate node between and ground.
Optionally, when the distance d between the power transmission line and the live working robot is calculated in step 1), if the target phase power transmission line is a C-phase power transmission line, the calculation function expression is as follows:
if the target phase power transmission line is the B-phase power transmission line, calculating a function expression as follows:
if the target phase power transmission line is the A-phase power transmission line, calculating a function expression as follows:
in formulae (1) to (3), ECmaxAverage breakdown field strength of uneven bar-plate gap for phase C, EBmaxAverage breakdown field strength of uneven bar-plate gap of phase B, EAmaxThe average breakdown field intensity of the uneven bar plate gap of the phase A is shown, r is the radius of a wire of the power transmission line, and d is the distance between the power transmission line and the live working robot.
Optionally, when the transfer current of arc discharge between the live working robot and the target phase power transmission line is obtained according to the discharge process model of the RLC second-order discharge loop in step 2), if the target phase power transmission line is a C-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the B-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the A-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
in the formulas (4) to (9), L is an equipotential transfer rodR is the resistance of the equipotential transfer rod, UQOIs the voltage between point O and point Q, t is the time, f is the circuit frequency, τ is the time constant, ω is the oscillation angular frequency, and φ is the phase.
Optionally, if the target-phase power transmission line is a C-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rods satisfies:
and the calculation function expression of the oscillation angular frequency ω is:
if the target phase power transmission line is the B-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod meets the following requirements:
and the calculation function expression of the oscillation angular frequency ω is:
if the target phase power transmission line is the A-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod meets the following requirements:
and the calculation function expression of the oscillation angular frequency ω is:
optionally, the peak value I of the medium potential pulse current in the step 2)mThe formula of the calculation function is:
in the above formula, UQOThe maximum value of the voltage between the points O and Q.
Optionally, the function expression for determining the safe transfer time of the potential transfer of the charged working robot in the step 3) is as follows:
in the above formula, W is the bearing energy of the equipotential transfer rod, uCiCapacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of iiFor a transfer current, P, corresponding to the target phase transmission lineiAnd t is the safe transfer time.
Optionally, the functional expression of the material parameters of the front end material of the equipotential transfer rod in step 3) is as follows:
in the above formula, T is the bearing temperature of the front end material of the equipotential transfer rod,
capacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of (c), iiThe method comprises the steps of obtaining a transfer current corresponding to a target phase power transmission line, t is safe transfer time, W is bearing energy of an equipotential transfer rod, c is the specific heat capacity of a material at the front end of the equipotential transfer rod, and m is the material quality of the material at the front end of the equipotential transfer rod.
In addition, the invention also provides a potential transfer model modeling and parameter control system of the charged working robot, which comprises a microprocessor and a memory which are connected with each other, wherein the microprocessor is programmed or configured to execute the steps of the potential transfer model modeling and parameter control method of the charged working robot.
Furthermore, the present invention also provides a computer-readable storage medium in which a computer program is stored, and the computer program is for execution by a computer apparatus to implement the steps of the potential transfer model modeling and parameter control method of the charged working robot.
Compared with the prior art, the invention mainly has the following advantages: the potential transfer model modeling and parameter control method of the live working robot comprises the steps of carrying out equivalent circuit modeling on the state of the live working robot before potential transfer and the state of the live working robot during potential transfer, providing a potential transfer model and a control method of the potential transfer model and the parameters thereof for determining the equipotential distances, potential transfer arm parameters and potential transfer time of different live working robots of the high-voltage transmission line, laying a foundation for the electromagnetic protection and design of the live working robot, providing a model basis for researching the equipotential safe distances, transfer current mechanisms and electromagnetic protection measures of the live working robot of the high-voltage transmission line, being applicable to the equipotential processes of the upper line and the lower line of various live working robots of the high-voltage transmission line, and providing a theoretical basis for researching the electromagnetic protection measures of the live working robot of the high-voltage transmission line.
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FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a same-tower double-circuit power transmission line in the embodiment of the invention.
FIG. 3 is an equivalent circuit diagram of the phase C line before and during potential transition according to the embodiment of the present invention.
FIG. 4 is an equivalent circuit diagram of the phase-B line before and during potential transition in the embodiment of the present invention.
FIG. 5 is an equivalent circuit diagram of the phase line before and during potential transition in the embodiment of the present invention.
Fig. 6 is a schematic diagram of a potential transferring structure of an electric operating robot through an equipotential transfer rod in an embodiment of the invention.
FIG. 7 shows a capacitor C according to an embodiment of the present inventionC1The capacitance parameter of (a) and the equipotential safety spacing.
FIG. 8 shows a capacitor C according to an embodiment of the present inventionC2The capacitance parameter of (a) and the equipotential safety spacing.
FIG. 9 shows a capacitor C according to an embodiment of the present inventionC1The capacitance parameter is plotted along with the change of the distance between the potential transfer rod and the power transmission line.
FIG. 10 is a graph of transfer currents for 3s equipotential times in an example of the present invention.
FIG. 11 is a diagram of transfer currents in 5s equipotential times in an example of the present invention.
FIG. 12 is a graph of transferred arc energy at 3s equipotential times for an embodiment of the present invention.
Detailed Description
The potential transfer model modeling and parameter control method of the live working robot of the invention is further described in detail by taking a certain same-tower double-circuit transmission line as an example.
As shown in fig. 1, the method for modeling a potential transfer model and controlling parameters of an electric working robot in the embodiment includes:
1) aiming at the state of the live working robot before potential transfer, establishing an equivalent circuit of the live working robot before potential transfer according to each capacitor in the equivalent circuit and the interphase capacitor of the power transmission line, and obtaining a fitting function between each capacitor in the equivalent circuit and the distance d between the target phase power transmission line and the live working robot by simulating the on-off process of the live working robot and respectively fitting; equivalent the target phase transmission line and the electric field environment of the live working robot into uneven bar plate gaps, substituting the average breakdown field intensity of the uneven bar plate gaps into a fitting function between each capacitor in the equivalent circuit and the distance d between the target phase transmission line and the live working robot, and calculating the critical breakdown field intensity between the target phase transmission line and the live working robotThe distance d is used as the equipotential safe distance of the live working robot, and the peak value I of the equipotential pulse current of arc discharge is calculatedm；
2) Aiming at the state of the live working robot during potential transfer, the capacitance between the live working robot and the power transmission line of a target phase is replaced by three parallel branches on the basis of an equivalent circuit before the potential transfer of the live working robot, wherein one parallel branch is the mutual capacitance between the power transmission line of the target phase and an equipotential transfer rod of the live working robot, one parallel branch is the mutual capacitance between the live working robot and the power transmission line of the target phase, and one parallel branch consists of a switch K, a resistor R and an inductor L, wherein the resistor R is a contact resistance parameter of the equipotential transfer rod, the inductor L is the inductor on the robot and the equipotential rod, the switch K is disconnected to charge the two mutual capacitances when the equipotential transfer rod of the live working robot does not generate arc discharge, and the switch K is closed when the equipotential transfer rod of the live working robot generates arc discharge, the two mutual capacitors discharge on the resistor R and the inductor L to form an RLC second-order discharge loop, and transfer current of arc discharge between the live working robot and the target-phase power transmission line is obtained according to a discharge process model of the RLC second-order discharge loop;
3) the method comprises the steps of determining safe transfer time of the live working robot during potential transfer according to voltage between the live working robot and a target phase power transmission line, transfer current of arc discharge and bearing energy W of an equipotential transfer rod, and determining material parameters of a front end material of the equipotential transfer rod according to the bearing energy W of the equipotential transfer rod and bearing temperature T of the front end material of the equipotential transfer rod during potential transfer of the live working robot.
Referring to fig. 2, the power transmission line in step 1) of this embodiment is a power transmission line on a same-tower double-circuit power transmission line, where the power transmission line on the same-tower double-circuit power transmission line is divided into three layers, the lowest layer is a C phase, the middle layer is a B phase, and the topmost layer is an a phase.
An equivalent circuit diagram is established for researching the equipotential process of the live working robot on the power transmission line, ensuring the stable and reliable operation of the robot and the equipotential process of the live working robot.
Referring to the left part of fig. 3, when the target phase power transmission line is a C-phase power transmission line, the equivalent circuit before potential transfer of the live working robot is established for the C-phase power transmission line: the point Q on the C-phase power transmission line sequentially passes through the capacitor CC1Capacitor CC2Ground, capacitor CC1Capacitor CC2The point between O is the position of the live working robot, the capacitance CC1For the capacitance between the live working robot and the C-phase transmission line, the capacitance CC2Phase voltage U of C phase for earth capacitance of live working robotCAs an equivalent power supply between point Q and ground;
referring to the left part of fig. 4, when the target phase power transmission line is a B-phase power transmission line, the equivalent circuit before potential transfer of the live working robot is established for the B-phase power transmission line as follows: the point Q on the B-phase power transmission line sequentially passes through the capacitor CB1Capacitor CB2Capacitor CCGround, capacitor CB1Capacitor CB2The point between O is the position of the live working robot, the capacitance CB1For the capacitance between the live working robot and the B-phase transmission line, the capacitance CB2For the capacitance between the live working robot and the C-phase transmission line, the capacitance CCA ground capacitance of the C-phase transmission line, and a phase voltage U of B, C phasesBCAs point Q and capacitor CB2Capacitor CCEquivalent power source between intermediate nodes, phase voltage U of C phaseCAs a capacitor CB2Capacitor CCAn equivalent power supply between the intermediate node between and ground;
referring to the left part of fig. 5, when the target phase transmission line is a C-phase transmission line, the equivalent circuit before potential transfer of the live working robot is established for the a-phase transmission line as follows: the point Q on the A-phase power transmission line sequentially passes through the capacitor CA1Capacitor CA2Capacitor CBGround, capacitor CA1Capacitor CA2The point between O is the position of the live working robot, the capacitance CA1For the capacitance between the live working robot and the A-phase transmission line, the capacitance CA2For conveying live working robot and B phaseCapacitance between electric lines, capacitance CBA ground capacitance of the B-phase transmission line, and a phase voltage U of A, B phasesABAs point Q and capacitor CA2Capacitor CBEquivalent power source between intermediate nodes, phase voltage U of B phaseBAs a capacitor CA2Capacitor CBThe equivalent power between the intermediate node between and ground.
In this embodiment, the fitting function between each capacitor in the equivalent circuit and the distance d between the target phase power transmission line and the live working robot is obtained by simulating the up-and-down line process of the live working robot and fitting the values respectively, and is a linear function, taking the target phase power transmission line as the power transmission line of the C phase as an example, the capacitor C isC1The relationship between the capacitance parameter and the equipotential safety spacing is shown in FIG. 7, the capacitance CC2The relationship between the capacitance parameter and the equipotential safety distance is shown in fig. 8, and finally, through data fitting, a function expression of a fitting function is obtained as follows:
CC1＝257.6d-0.406-3.109
CC2＝283.1d-0.435-5.632
and similarly, fitting of a fitting function when the target phase power transmission line is the B/A phase power transmission line can be realized.
In this embodiment, when the distance d between the power transmission line and the live working robot is calculated in step 1), if the target phase power transmission line is a C-phase power transmission line, the calculation function expression is as follows:
if the target phase power transmission line is the B-phase power transmission line, calculating a function expression as follows:
if the target phase power transmission line is the A-phase power transmission line, calculating a function expression as follows:
in formulae (1) to (3), ECmaxAverage breakdown field strength of uneven bar-plate gap of phase C, EBmaxAverage breakdown field strength of uneven bar-plate gap of phase B, EAmaxThe average breakdown field intensity of the uneven bar plate gap of the phase A is shown, r is the radius of a wire of the power transmission line, and d is the distance between the power transmission line and the live working robot. According to the formulas (1) to (3), under the condition that the radius of the lead is known, the average breakdown field intensity depends on the size of the distance d between the power transmission line and the live working robot, and under the power frequency, the average breakdown field intensity of the uneven electric field of the rod-plate gap is 5kV/cm, so that when the critical breakdown field intensity is obtained through calculation through a model, the distance d between the power transmission line and the live working robot is the equipotential safety distance.
Fig. 6 is a schematic structural diagram of equipotential transfer between an equipotential transfer rod of an electrified operating robot and a target phase power transmission line. The equipotential process of the live working robot is equivalent to a capacitor charging and discharging process, and the air gap is equivalent to a capacitor. In this embodiment, for the structure of equipotential transfer between the equipotential transfer rod of the live working robot and the target phase power transmission line, in step 2), in the state of potential transfer of the live working robot, on the basis of the equivalent circuit before potential transfer of the live working robot, the capacitance between the live working robot and the power transmission line of the target phase is replaced by three parallel branches, one of the parallel branches is the mutual capacitance between the target phase power transmission line and the equipotential transfer rod of the live working robot, the other parallel branch is the mutual capacitance between the live working robot and the target phase power transmission line, and the other parallel branch is composed of a switch K, a resistor R and an inductor L.
According to the method, an equipotential process of a high-voltage transmission line live working robot is equivalent to a capacitor charging and discharging process, an air gap is equivalent to a capacitor, a contact resistance of a potential transfer rod and a resistance of a robot body are replaced by R, a reactance of the potential transfer rod and a reactance of the robot body are replaced by L, the potential transfer process is divided into two parts before potential transfer and during potential transfer, A, B, C three-phase potential transfer models are established as shown in figures 3, 4 and 5, the left side is an equivalent model before potential transfer, the right side is an equivalent model during potential transfer, and the O point is the position of the robot. After the equipotential safe distance is confirmed, the robot enters the potential transfer process, the potential transfer arm gradually approaches the power transmission line, the primary electric field of the power transmission line is seriously distorted, intermittent arc discharge and continuous arc discharge can be generated, and the robot does not change the position, so the electric field of the potential transfer process has little influence on the robot body, and the equivalent circuit model at the moment is an equivalent circuit diagram of the right part of the diagrams 3-5:
referring to the right part of fig. 3, when the target phase transmission line is a C-phase transmission line, one parallel branch is a mutual capacitance C between the target phase transmission line (the C-phase transmission line) and the equipotential transfer rod of the live working robotC11One parallel branch is mutual capacitance C between the live working robot and the target phase transmission line (C phase transmission line)C12。
Referring to the right part of fig. 4, when the target phase transmission line is a B-phase transmission line, one parallel branch is a mutual capacitance C between the target phase transmission line (the B-phase transmission line) and the equipotential transfer rod of the live working robotB11One parallel branch is mutual capacitance C between the live working robot and the target phase transmission line (B phase transmission line)B12。
Referring to the right part of fig. 5, when the target phase transmission line is a phase a transmission line, one parallel branch is a mutual capacitance C between the target phase transmission line (phase a transmission line) and the equipotential transfer bar of the live working robotA11One parallel branch is mutual capacitance C between the hot-line work robot and a target phase transmission line (A phase transmission line)A12。
Taking the target phase transmission line as the transmission line of the C phase as an example, as the equipotential transfer arm gradually approaches the transmission line of the C phase, the capacitor CC11Gradually increase in CC12、CC2Remains substantially unchanged if etcThe potential safety distance (the distance d between the power transmission line and the live working robot) is 800mm, and the capacitance C is obtained through ANSYS simulation softwareC12Is maintained substantially at 25pF, capacitor CC2The capacitance value of (C) is maintained at 19pF, and the capacitance CC11The variation of the capacitance value of (2) with the distance (l) between the potential transfer rod and the transmission line is shown in fig. 9. When the equipotential transfer rod rises without arcing, the capacitor CC11、CC12And charging, namely closing the switch K when arc discharge occurs, discharging the capacitor on the resistor R and the inductor L to form an RLC second-order discharge loop.
In this embodiment, when the transfer current of arc discharge between the live working robot and the target phase power transmission line is obtained according to the discharge process model of the RLC second-order discharge loop in step 2), if the target phase power transmission line is a C-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the B-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the A-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
in the formulas (4) to (9), L is the inductance in the impedance parameter of the equipotential transfer rod, R is the resistance in the impedance parameter of the equipotential transfer rod, and U isQOIs the voltage between point O and point Q, t is the time, f is the circuit frequency, τ is the time constant, ω is the oscillation angular frequency, and φ is the phase.
If the target phase power transmission line is the C-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod meets the following requirements:
and the calculation function expression of the oscillation angular frequency ω is:
in this embodiment, the resistance R in the impedance parameter of the equipotential transfer rod satisfies the equation (10), so that the discharge circuit is in an underdamped state, and the calculation function expression of the oscillation angular frequency ω is the equation (11). Therefore, the conclusion can be drawn that the impedance parameters (resistance R and inductance L) of the equipotential transfer rod directly influence the size, amplitude, frequency, arc energy and the like of the transfer current, and the contact impedance parameters of the potential transfer arm are far larger than the impedance parameters of the robot body, so that the transfer current can be controlled to a certain degree if the contact impedance parameters of the equipotential transfer rod are controlled, and the influence of the transfer current on the normal work of the robot is reduced.
Similarly, if the target phase power transmission line is a B-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod satisfies:
and the calculation function expression of the oscillation angular frequency ω is:
similarly, if the target phase power transmission line is the power transmission line of the phase a, the resistance in the impedance parameters of the equipotential transfer rod satisfies:
and the calculation function expression of the oscillation angular frequency ω is:
in this embodiment, the peak value of the equipotential pulse current I in step 2)mThe formula of the calculation function is:
in the above formula, UQOThe maximum value of the voltage between the points O and Q.
The method comprises the steps of establishing an equivalent circuit model by analyzing an equipotential process of a live working robot of the high-voltage transmission line; analyzing the relation between the gap distance and the breakdown field intensity by taking the non-breakdown of the gap between the robot and the power transmission line as a judgment basis, and determining the equipotential safety distance of the flexible potential transfer arm; the contact impedance parameter, the equipotential safety distance and the potential transfer time of the flexible potential transfer rod are controlled to change the magnitude of the transfer current through the obtained equivalent circuit model and a transfer current calculation formula; and analyzing the frequency characteristic of the transfer current and the arc energy, and determining the safe transfer time of the potential transfer arm by taking the non-arc damage of the material as an index by combining the damage characteristic of the mechanical arm material. In this embodiment, the function expression for determining the safe transfer time during the potential transfer of the live working robot in step 3) is as follows:
in the above formula, W is the bearing energy of the equipotential transfer rod,
capacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of iiFor a transfer current, P, corresponding to the target phase transmission lineiAnd t is the safe transfer time.
In this embodiment, simulation is performed by ATP-EMTP electromagnetic transient simulation software, and when the potential transfer time is 3s and 5s, the change of the transfer current with time is shown in fig. 10 and 11. The transfer current is composed of a large number of pulse waveforms, the pulse current interval is far at the initial stage of potential transfer, intermittent arc discharge occurs at the moment, the capacitor stores more charges, so the maximum value of the pulse current is large, the electric arc at the intermediate stage of potential transfer is not extinguished and is immediately ignited, at the moment, the charges stored by the capacitor are small, the amplitude change of the pulse current is small, when the potential transfer enters the final stage, the charges stored by the capacitor are released just after being stored, so the transfer current is almost a continuous small current, wherein the intermediate stage and the final stage of potential transfer are both expressed as continuous arc discharge, and the frequency of each pulse current is along with the capacitor CC11Is varied by the variation of the total equipotential pulse current peak value such asThe formula (16) shows that the formula for releasing the arc discharge energy in the equipotential process is shown as the formula (17). When the equipotential time is 3s, the arc energy is larger as the potential transition time increases, as shown in fig. 12. For the A, B, C three phases, the released energy can cause the potential transfer arm to burn, affecting the durability of the transfer arm.
In this embodiment, the functional expression of the material parameters of the front material of the equipotential transfer rod in step 3) is:
in the above formula, T is the bearing temperature of the front end material of the equipotential transfer rod, uCiCapacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of iiThe method is characterized in that the method provides a foundation for the case shielding by analyzing the frequency characteristic of the transfer current, ensuring that a potential transfer arm is not damaged and establishing a foundation for the case shielding by analyzing the frequency characteristic of the transfer current. The safe potential transfer time is determined by the arc discharge energy W and the material characteristic index of the potential transfer rod, and the material index is determined by different materials. If the contact material at the front end of the potential transfer arm is copper, the specific heat capacity of the copper is
The arc action volume is small, and the maximum temperature of the front end of the potential transfer arm rises to 128 ℃ within 3s of potential transfer time. In the case of copper, when heating at a temperature of 200 ℃, copper oxide is formed by reaction with oxygen, and the copper oxide is less conductive and heat resistant than copper and reacts with a dilute acid, so that the maximum temperature of the tip of the potential transfer arm cannot be raised to 200 ℃ in order to ensure the durability of the potential transfer arm. The potential transfer time up to 200 ℃ was found to be 7.68s by calculationThe time is the safe potential transfer time of the potential transfer arm.
In summary, in the method of the embodiment, an equivalent circuit model of A, B, C three-phase respective potential transfer and parameter relations of each element in the circuit thereof are established by analyzing the process of the robot going on and off the line of each phase of the power transmission line, and according to the relation between breakdown voltage before potential transfer and the distance between the robot and the power transmission line, and taking the non-breakdown of the gap as a judgment basis, the safe distance of the robot and the power transmission line equipotential is determined by using the flexible equipotential transfer arm, so that the robot is prevented from being damaged by arc discharge. And obtaining a transfer current calculation formula through an equivalent circuit model, and controlling the contact resistance parameter, the equipotential safety distance and the potentiometric transfer time of the flexible potentiometric transfer rod to change the size of the transfer current. The frequency characteristic of the transfer current and the arc energy are analyzed, the damage characteristic of a mechanical arm material is combined, the material is not damaged by the arc and serves as an index, the safe transfer time of the potential transfer arm is determined, and a foundation is laid for electromagnetic protection and shielding of a working robot. The method can be suitable for the equipotential process of the on-line and the off-line of various live working robots of the high-voltage transmission line, and provides a theoretical basis for researching the electromagnetic protection measures of the live working robots of the high-voltage transmission line.
In addition, the present embodiment also provides a system for modeling and controlling parameters of a potential transfer model of an electric working robot, which includes a microprocessor and a memory connected to each other, wherein the microprocessor is programmed or configured to execute the steps of the method for modeling and controlling parameters of a potential transfer model of an electric working robot.
Further, the present embodiment also provides a computer-readable storage medium in which a computer program is stored, and the computer program is used for being executed by a computer device to implement the steps of the potential transfer model modeling and parameter control method of the aforementioned electric working robot.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A potential transfer model modeling and parameter control method of a live working robot is characterized by comprising the following steps:
1) aiming at the state of the live working robot before potential transfer, establishing an equivalent circuit of the live working robot before potential transfer according to each capacitor in the equivalent circuit and the interphase capacitor of the power transmission line, and obtaining a fitting function between each capacitor in the equivalent circuit and the distance d between the target phase power transmission line and the live working robot by simulating the on-off process of the live working robot and respectively fitting; equivalent the target phase transmission line and the electric field environment of the live working robot into uneven bar plate gaps, substituting the average breakdown field intensity of the uneven bar plate gaps into a fitting function between each capacitor in an equivalent circuit and the distance d between the target phase transmission line and the live working robot, calculating the distance d between the target phase transmission line and the live working robot when the critical breakdown field intensity is taken as the equipotential safety distance of the live working robot, and calculating the peak value I of the equipotential pulse current of arc dischargem；
2) Aiming at the state of the live working robot during potential transfer, the capacitance between the live working robot and the power transmission line of a target phase is replaced by three parallel branches on the basis of an equivalent circuit before the potential transfer of the live working robot, wherein one parallel branch is the mutual capacitance between the power transmission line of the target phase and an equipotential transfer rod of the live working robot, one parallel branch is the mutual capacitance between the live working robot and the power transmission line of the target phase, and one parallel branch consists of a switch K, a resistor R and an inductor L, wherein the resistor R is a contact resistance parameter of the equipotential transfer rod, the inductor L is the inductor on the robot and the equipotential rod, the switch K is disconnected to charge the two mutual capacitances when the equipotential transfer rod of the live working robot does not generate arc discharge, and the switch K is closed when the equipotential transfer rod of the live working robot generates arc discharge, the two mutual capacitors discharge on the resistor R and the inductor L to form an RLC second-order discharge loop, and transfer current of arc discharge between the live working robot and the target-phase power transmission line is obtained according to a discharge process model of the RLC second-order discharge loop;
3) the method comprises the steps of determining safe transfer time of the live working robot during potential transfer according to voltage between the live working robot and a target phase power transmission line, transfer current of arc discharge and bearing energy W of an equipotential transfer rod, and determining material parameters of a front end material of the equipotential transfer rod according to the bearing energy W of the equipotential transfer rod and bearing temperature T of the front end material of the equipotential transfer rod during potential transfer of the live working robot.
2. The potential transfer model modeling and parameter control method of the live working robot according to claim 1, wherein the power transmission line in step 1) is a power transmission line on a same-tower double-circuit power transmission line, wherein the power transmission line on the same-tower double-circuit power transmission line is divided into three layers, the lowest layer is a phase C, the middle layer is a phase B, and the topmost layer is a phase A; and aiming at the C-phase power transmission line, an equivalent circuit before potential transfer of the live working robot is established as follows: the point Q on the C-phase power transmission line sequentially passes through the capacitor CC1Capacitor CC2Ground, capacitor CC1Capacitor CC2The point between O is the position of the live working robot, the capacitance CC1For the capacitance between the live working robot and the C-phase transmission line, the capacitance CC2Phase voltage U of C phase for earth capacitance of live working robotCAs an equivalent power supply between point Q and ground; the equivalent circuit before potential transfer of the live working robot is established for the B-phase power transmission line as follows: the point Q on the B-phase power transmission line sequentially passes through the capacitor CB1Capacitor CB2Capacitor CCGround, capacitor CB1Capacitor CB2The point between O is the position of the live working robot, the capacitance CB1For capacitors between live working robots and B-phase transmission lines, capacitors CB2For the capacitance between the live working robot and the C-phase transmission line, the capacitance CCA ground capacitance of the C-phase transmission line, and a phase voltage U of B, C phasesBCAs point Q and capacitor CB2Capacitor CCThe equivalent power supply between the intermediate nodes in between,phase voltage U of C-phaseCAs a capacitor CB2Capacitor CCAn equivalent power supply between the intermediate node between and ground; the equivalent circuit before potential transfer of the live working robot is established for the A-phase power transmission line and comprises the following steps: the point Q on the A-phase power transmission line sequentially passes through the capacitor CA1Capacitor CA2Capacitor CBGround, capacitor CA1Capacitor CA2The point between O is the position of the live working robot, the capacitance CA1For the capacitance between the live working robot and the A-phase transmission line, the capacitance CA2For capacitors between live working robots and B-phase transmission lines, capacitors CBA ground capacitance of the B-phase transmission line, and a phase voltage U of A, B phasesABAs point Q and capacitor CA2Capacitor CBEquivalent power source between intermediate nodes, phase voltage U of B phaseBAs a capacitor CA2Capacitor CBThe equivalent power between the intermediate node between and ground.
3. The method for modeling and controlling the potential transfer model of the live working robot according to claim 2, wherein when the distance d between the power transmission line and the live working robot is calculated during the critical breakdown field strength in step 1), if the target phase power transmission line is a C-phase power transmission line, the calculation function expression is as follows:
if the target phase power transmission line is the B-phase power transmission line, calculating a function expression as follows:
if the target phase power transmission line is the A-phase power transmission line, calculating a function expression as follows:
in formulae (1) to (3), ECmaxAverage breakdown field strength of uneven bar-plate gap of phase C, EBmaxAverage breakdown field strength of inhomogeneous bar-plate gap for phase B, EAmaxThe average breakdown field intensity of the uneven bar plate gap of the phase A is shown, r is the radius of a wire of the power transmission line, and d is the distance between the power transmission line and the live working robot.
4. The method for modeling and controlling parameters of the potential transfer model of the live working robot according to claim 3, wherein when the transfer current of arc discharge between the live working robot and the target phase transmission line is obtained according to the discharge process model of the RLC second-order discharge loop in step 2), if the target phase transmission line is a C-phase transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the B-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
if the target phase power transmission line is the A-phase power transmission line, the functional expression of the discharge process model of the RLC second-order discharge loop is as follows:
and the calculation function expression of the transfer current of the arc discharge between the live working robot and the target phase power transmission line is as follows:
in the formulas (4) to (9), L is the inductance in the impedance parameter of the equipotential transfer rod, R is the resistance in the impedance parameter of the equipotential transfer rod, and U isQOIs the voltage between point O and point Q, t is the time, f is the circuit frequency, τ is the circuit time constant, ω is the oscillation angular frequency, and φ is the phase.
5. The potential transfer model modeling and parameter control method of the live working robot according to claim 4, wherein if the target phase transmission line is a C-phase transmission line, the resistance in the impedance parameters of the equipotential transfer rods satisfies:
and the calculation function expression of the oscillation angular frequency ω is:
if the target phase power transmission line is the B-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod meets the following requirements:
and the calculation function expression of the oscillation angular frequency ω is:
if the target phase power transmission line is the A-phase power transmission line, the resistance in the impedance parameters of the equipotential transfer rod meets the following requirements:
and the calculation function expression of the oscillation angular frequency ω is:
6. the potential transfer model modeling and parameter control method for live working robot according to claim 5, characterized in that the peak value of the equipotential pulse current I in step 2)mThe formula of the calculation function is:
in the above formula, UQOThe maximum value of the voltage between the points O and Q.
7. The potential transfer model modeling and parameter control method for the electric working robot according to claim 6, wherein the function expression for determining the safe transfer time of the potential transfer of the electric working robot in the step 3) is as follows:
in the above formula, W is the bearing energy of the equipotential transfer rod,
capacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of (c), iiFor a transfer current, P, corresponding to the target phase transmission lineiAnd t is the safe transfer time.
8. The potential transfer model modeling and parameter control method for the live working robot according to claim 7, wherein the functional expression of the material parameters of the material at the front end of the equipotential transfer rod in step 3) is:
in the above formula, T is the bearing temperature of the front end material of the equipotential transfer rod,
capacitance C corresponding to target phase transmission lineC11Capacitor CB11Or a capacitor CA11Voltage of iiThe method comprises the steps of obtaining a transfer current corresponding to a target phase power transmission line, t is safe transfer time, W is bearing energy of an equipotential transfer rod, c is the specific heat capacity of a material at the front end of the equipotential transfer rod, and m is the material quality of the material at the front end of the equipotential transfer rod.
9. A system for modeling a potential transfer model and controlling parameters of an electric working robot, comprising a microprocessor and a memory connected to each other, wherein the microprocessor is programmed or configured to execute the steps of the method for modeling a potential transfer model and controlling parameters of an electric working robot according to any one of claims 1 to 8.
10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and the computer program is used for being executed by a computer device to implement the steps of the potential transfer model modeling and parameter control method for an electric working robot according to any one of claims 1 to 8.
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