Design And Research Of Conrol System For High-Voltage Hot-Line Cleaning Robot

It's poor in rain but rich in sand and wind in northwestern China, taper insulator is easy dirt under this circumstance. It will cause "Pollution Flashover" accident, which hugely handicaps the safe operation of the power system. So it is necessary to clearn the taper insulator to avoid the accident. Sponsored by China National Hi-tech R&D Program (863 Program), the research institute of robotics from Shanghai Jiao Tong University became to do research about the high-voltage hot-line cleaning robot. After a great of efforts, the research attained some effects, sloved lots of technical problems and sudeveloped the high-voltage hot-line cleaning robot (HVCR-Ⅰ) which is test successfully in one of 220/330kV Substation in Lanzhou. After that ,We developed the second generation of HVCR (HVCR-Ⅱ). HVCR-Ⅱhas a great change in struct compare to HVCR-Ⅰ, so did the Performance.This paper mainly discusses the control system and function design of HVCR-Ⅱ, and also do some design and research to the control system of the work platform which is the main struct of the robot. At last the paper introduced some experiments which related to the performance of the robot.First, the paper introduce the struct of the system include the mechanical system and the hydraulic system, and the demands of the function design. Then according to the function demand designed the control system of the robot. The system used master and slave interaction control system, the main founction of the slave system is performance of the control function, the main function of the master system is to control and monitor the slave system. The paper discusses the design of the PLC control system, include the hardware selected and connection ,and the design of all the main functions of the robot include moving, leveling, working and some relate problems.Then the paper discuss the main effect of master control system. And then the paper discussed the parts of the S12 SCM control system, the design and carry out of the peripheral device of the control system. After that the paper discussed about the communication of control of the master and slave system.The working platform is the main parts of the system, the left platform of HVCR-II is designed as two layers and used the design of master-slave block drive. The design improved the capability of iisolation greatly, but decreased the stability of the velocity. This paper did a great research about the lifting platform, and used PID and hydraulic control methods to control the movement of the up and down platform, acquired a good performance. This paper also designed and carried out the main function of the robot—auto cleaning function, and could work steadily in the system.At the end, the paper discussed the experiment research, including high voltage test for insulating lift, the test of clearning brush, auto-cleaning test and auto-leveling test.