| With the rapid development of industrial automation, the comprehensive pollution problems caused by environmental problems are increasing, besause of this problem, insulator contamination problems are more serious, which are responsible for the line insulation. And flashover accident caused by the porcelain external insulation of electrical instruments is increasing, flashover accident would cause a large area blackout trip, and cause damage to the system collapse and equipment, it would bring greatly risks for the safe operation of the grid, and seriously affect the reliability of power supply. Because of the need of social development, power supply remains in a state of tension, and electrical equipments overload of work, plus cleaning problem of some insulators is difficult, conventional blackouts cleaning operation is complex and error-prone, and it will cause huge economic losses to the community, so it wouldn’t meet the development needs. In order to improve the substation equipment fouling flash capability, and build safe and efficient grid to better protect social development, we must accelerate the research and application of the live water cleaning working.In this thesis, live water cleaning working mobile robot designed for the substation charged by National 863 plan is as experiment platform, we have designned the control system of live water cleaning working mobile robot for substation. The control system uses a remote control device to remote operation of the robot using buttons and joystick, so that the operators far away from the dangerous work environment, the system uses the IPC+Touch Screen+ motion controller simplifies the robot motion control process, and improves the control accuracy. The live water cleaning working mobile robot for substation not only reduces labor and improves the safety of operating personnel, but improves the economic and social benefits of the power system, greatly improves the automation level of water cleaning, it meets the needs of social development. The thesis carries out the following work:First, the thesis introduces the overall structure system of the live water cleaning working mobile robot, which includes crawler body moving mechanism, elevating work platforms, water rinse subsystems and other components, and it combines with the robot’s overall structure for the a simple study describes of the robot electrical system, it preparates for the later chapters.Second, combined with this robot’s basic structure features and motion control needs, the thesis introduces the robot motion control, and analies the forward and inverse kinematics solution of the robot arm and movement trajectory of the mobile body. And it builds kinematics model, uses trigonometric function superposition method instead of DH modeling approach to analyze the robot forward kinematics, inverse kinematics analysis carries out the algebraic method, and verifies by MATLAB software simulation, it provides a theoretical basis to for design and implementation of the robot control system.Then, according to the need of water cleaning operation, the thesis has a brief introduction to the pure water preparation system and water pressure system in the water cleaning system, and introduces insulation security monitoring system of robot combined with the water pressure system, which charges the insulation protection of live water cleaning working.Finally, the thesis expounds the control system components, control methods and the host machine implementation of the system, and it combines with the composition of the control system for a brief introduction of the open control system based on the composite application of the IPC+Touch Screen+motion controller. |
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