The Research For High Voltage Insulator Charged Clean Equipment And Its Control System

Insulators play two basic function in overhead transmission lines, supportingoverhead transmission lines and preventing the current back to the earth.In the naturalconditions, the surface of insulators are often polluted by conductive material. When itmeet the wet weather, under the wet function, the conductance of dirt layer increases,and the leakage current increases, then the partial discharge produces. Partial dischargeoccurs and develops constantly,when it reaches or exceeds the critical state, the arcflashover occurs, this kind of flashover is called pollution flashover. The generalpower outage which was caused by small pollution flashover accident could bringabout the power loss from hundreds of thousands to millions KWH, the power losswhich was brought about by the large area and long time power outage could be up toten million KWH. The indirect loss of the national economy which was due to thesudden, long time power outage caused by pollution flashover accident wasimmeasurable. Preventing the occurrence of insulator pollution flashover, insulatorsmust be cleaned regularly. For there was no feasible way for cleaning the suspensioninsulator of the Outdoor high overhead transmission lines, the idea of installing ainsulator clean manipulator to a mobile platform which was used a mature technologyline inspection robot as was puted forward. This idea was researched and designedtentatively, and the following work was carried out:(1) The range of the High voltage insulator charged manipulator's movement andthe standard parameters and requirements of the cleaning were determined, the goal ofthe charged cleaning device was determined.(2) The movement space and work requirement of the manipulator were Analyzed,the structure of the manipulator was designed, the parameters of the manipulator'scomponents were determineded, the structure and function of the manipulator weredesigned and checked systematically. According to the specifications of the motorsand the size of the connecting rods and the density of connecting rods's material, thetotal weight of the manipulator was estimated, to verify whether meet the requirementsof the manipulator. (3) The connecting rod coordinate system of manipulator was established byuseing D-H method, coordinate systems were transformed by the homogeneous matrix,the final homogeneous transformation matrix of the terminal actuating mechanismwere worked out, each joint's variables was replaced by the manipulator's initial value,the correctness of the transformation matrix was verified. According to thecharacteristics of linear distribution of the suspension insulator, the method ofdecomposing coordinate in the right Angle coordinate system was tryed to replace theInverse kinematics method which has Multiple solutions, then the operation wassimplified, the most rapid path planning algorithm was provided to control system.(4) The control system according to the requirements of the accurate control ofthe manipulator was designed, DSP microprocessor was used for manipulator's pathplanning and monitoring system, the much interface CAN bus was used for datatransmission, four SCM system which controled each joint respectively werecomposed by single-chip microcomputer and their peripheral circuit, the accuratelocation of the manipulator was realized.The results showed that the mechanical design meet the demands, there weresome problems need to be studied further.