| The transmission line regelation and the snow often can cause the line trip, the broken line, but actually accidents and so on pole, insulator arc-over and correspondence interrupt. Many countries had transmission accident caused by ice, brought the huge economic loss for these countries, therefore the snow and ice disaster became the common problem which the world many country electrical grid faced.Our country is one of most serious transmission line regelation countries, the probability of line ice accidents standed the world front row.This paper used the background of de-icing robot, designed and developed one kind of online deicing mechanism, realized the monitor of transmission line icing and the deicing, which had the giant economical benefit and the social efficiency.First, this paper elaborated the harm of transmission line regelation,then introduced the structure of 220kV transmission line.The transmission line robot was introduced the outline, and made a cpmparison of patrolled line robot. The progresses, of deicing robot was described at home and abroad,and introduced in detail of deicing method, and gave the guide of de-icing robot manufacture for the future.Next, The deicing robot mechanical structure was analyzed and presented no the obstacle crossing deicing robot mechanical structure and the overall requirements of control.According to the design of the robot,the structure of hold was introduced. The two deicing methods were detailed introduction.Finally proposed the two kind of deicing robot electricity control system, and the software construction of machine deicing robot was given based on the PC control system.Finally,the deicing robot’s multi-electrical machinery coordination control flow chart was given.Then, the DC drive motor of de-icing robot was introduced. Introduced the basic structure and the principle of DC motor, as well as drive technical and the DC motor mathematical model. According to characteristic of the DC motor, three kinds of intelligent controllers were designed.The detail of fuzzy controller design was given, and had given the fuzzy control software flow chart. Then introduced the multiple state controller, which combined the bang-bang controller and the PID controller. Finally the design of weight self-adjust controller was given, and given the simulation result.Through the simulation result indicated that validity of these method. Then, the asynchronous motor and its control method were introduced. As structure of asynchronous motor is simple, and the reliability is high, and the AC motor could used in the deicing robot. According to the asynchronous motor mathematical model and the theory of grey forecast,the design of AC motor controller based on PID and the grey forecasting fuzzy PI were given, and the simplification computation of grey forecast was given, Through the simulation result showed that the method has got a better dynamic and static properities and robustness compared with the conventional PI controller.Finally, some discussions of de-icing robot remote operation was given.First the structure of the wireless network long-distance control system was introduced, as well as existed some questions of the long-distance control.The control strategy solutions of the long-distance control delays were given.The time delay compensation method of variable prediction cotrol was proposed and the controller of variable step predictive was given,and proposed the smooth operator filter. Through the result of second-order dalay system simulinlation indicated that this method had certain validity. |
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