Trench Cable Insulation Discharge Detection System Research On Intelligent Spherical Manipulator

Power supply system is developing rapidly,cable trench laying way to adaptability,laying flexible and beautify the city and other characteristics,widely used in urban transmission network,but the transmission line security problems also increased.Practice shows that the partial discharge is one of the main causes of the damage of the insulation layer of the power cable,and conducts the online inspection of the trench cable,which plays a vital role in the transmission reliability of the power transmission system.In order to improve the efficiency and safety of urban trench cable inspection,a technique of on-line inspection with a cable partial discharge detector is proposed.According to the requirements of urban trench cable inspection,the basic technical indexes of the spherical loading device are put forward,and the two-wheel drive mode of the spherical mounted device is studied.Three-dimensional modeling software UGS is used to model the driving structure of the mounted device,and the dynamic analysis of the device is carried out,which provides the theoretical basis for the system controller research.In order to describe the motion state of the spherical device,the position and attitude description method of the device are established.The attitude calculation of the spherical loading device is completed by introducing the Euler angle and the quaternion.In order to realize the motion path control of the spherical loading device,the speed and attitude controller of the system are studied based on the PID algorithm,and the closed-loop feedback control of the speed and attitude of the device is realized.The influence of the dynamic measurement error on the control accuracy due to the attitude sensor This paper studies the vibration suppression control strategy of the device,introduces the Kalman filter algorithm to integrate the attitude data,and studies the obstacle avoidance strategy based on the circular path to realize the autonomous obstacle avoidance function of the spherical device.Based on the control theory of the spherical device,the experimental prototype of the loading device is completed.The motion simulation,the attitude calculation,the motion performance and the motion path control experiment are carried out respectively.The experimental results show that the ball bearing system is reasonable in design,The PID control of the speed and attitude of the device realizes the dynamic balance and heading control of the device.The vibration suppression control strategy based on the Kalman filter data fusion algorithm effectively reduces the dynamic measurement error of the sensor and reduces the noise control accuracy of the PID controller The obstacle avoidance strategy based on circular path control is used to realize the obstacle avoidance function of the device.Based on the prototype experiment of the spherical loading device,the technical feasibility of on-line inspection with the cable partial discharge detector equipped with the spherical loading device is verified.