Simulation And Experimental Research On Magnetic Suspension Method Of Inspection Robot For HVDC

Aiming at the problem of surface wear of wheel and transmission line of wheel-arm inspection robot,this paper presents a magnetic suspension method based on high voltage direct current(HVDC)magnetic field.Using the amperage of the energizing coil in the HVDC magnetic field to suspend the robot,zero contact and zero friction between the robot and the high-voltage line are achieved,thereby eliminating the wear problem.According to the above methods,this article has done the following researches:(1)Analyze the magnetic field characteristics of overhead HVDC transmission lines.The magnetic field lines of HVDC magnetic fields can be approximated as concentric circles with high-voltage lines as axes.(2)The magnetic suspension mechanism in the high-voltage wire loop magnetic field environment was studied.The magnetic suspension model was designed and the relationship between the magnetic suspension force and the parameters of the magnetic suspension model was analyzed.The correctness of the magnetic suspension model was proved theoretically.(3)In order to improve the gravity of the inspection robot body and the magnetic levitation force is insufficient,the magnetic suspension model is optimized.The optimized magnetic suspension model can increase the magnetic levitation force by 724.5N.(4)Analyze that the magnetic levitation model is easily affected by the external environment and destroy the balance stability.The method of moment balance of magnetic suspension is proposed,and the relationship between torque and moment balance model parameters is analyzed.It is proved theoretically that this model can produce A certain torque maintains the balance of the magnetic suspension model.(5)The problem that the magnetic levitation model cannot maintain coaxial with the high-voltage line in the external environment will affect the magnetic levitation effect,and a coaxiality adjustment model is designed for this.(6)Using the simulation software to simulate and analyze the magnetic suspension model,the simulation results verify the correctness of the proposed magnetic suspension method.The moment equilibrium model is simulated and analyzed.The simulation results verify that the proposed moment balance model is theoretically correct.Finally,according to the proposed magnetic suspension model,the minimal magnetic suspension system was built and tested.The experimental results show that the proposed magnetic suspension method is feasible.