| With the continuous development of the power grid,some problems,which are the maintenance and others of substation equipment,have become increasingly highlight.As an important power transmission node and hub of the whole power station,the failure,existing security risks and other problems of equipment will bring a huge losses to users and society.Therefore,the daily maintenance work of power substation equipment is one of the main means to ensure the safety and stable operation of power grid.However,the traditional manual maintenance needs to be completed under the power outage state,and it is difficult to obtain directly the evaluation of substation equipment in the early and later maintenance.With the mature development of the robotic technology,online detection technology and other technologies,mobile robots have been applied very well in substation equipment inspection.But it is only used in outdoor substation equipment inspection currently,and it is difficult to maintain the equipment.Hence,the mobile robot which can carry out live maintenance of substation equipment is the trend of future development of the power grid,and it can also speed up the process of unmanned intelligent substation.This work was supported by the National High-Tech Research and Development Program(863 Program),China.The control systems of live maintenance mobile robot for substation equipment is designed and researched,which can meet the live maintenance requirements of substation equipment.The maintenance mobile robot,with human-computer interaction and local intelligence,can effectively forecast,control and maintain the substation equipment.Which can also improve the intelligent degree of the substation and ensure the safe and reliable of the power grid.The major innovations and specific research work are as follows:(1)Based on the research and analysis of the development status of the substation maintenance robot at home and abroad,the live maintenance robot system for substation equipment based on Mecanum wheel is designed,which can better meet the maintenance of the indoor substation equipment because of the better movement characteristics.However,taking into account the Mecanum wheel is not suitable for uneven road working,so the robot system based on two rounds of differential drive is also designed,mainly for the outdoor substation equipment maintenance.And according to the requirements of the system,the reasonable hardware selection and the host computer control system design are completed.(2)By analyzing the structural parameters of Mecanum wheel,the structural layout parameters and motion characteristics of mobile platform based on the Mecanum wheel,the bias angle of mobile platform is determined under the performance balance of the motion system.And the problem of optimal layout of mobile platform is solved.(3)According to the structure of maintenance mobile robot,the kinematic equations of the mobile platform based on the two-wheel differential drive are given.Then the kinematics and dynamics models of the mobile platform based on the Mecanum wheel are studied,and the speed distribution problem in different motion forms is solved.Besides,the D-H model of the maintenance arm is established,and the process of forward kinematics and inverse kinematics is deduced in detail.Then,the validity and feasibility of the designed manipulator are verified by MATLAB simulation.(4)In order to improve the understanding between the maintenance mobile robot and the substation environment,and the robot can make intelligent and reasonable behavior decision independently,an upper layer behavior planning method based on fuzzy cognitive map is presented.Then,the related events in the process of maintenance work are as concept nodes,and the connection weights between the nodes are given according to expert knowledge.Besides,the fuzzy cognitive map model of tasks and behavior planning is established,which can realize to generate and real-time adjust the action logic sequences with the sensor information.The proposed method is simple without complicated calculations and a lot of training.(5)To solve the wagging or oscillation problem of maintenance mobile robot when adjusting,a path planning method based on fuzzy control algorithm is proposed that combines multi-sensor fusion magnetic path navigation and RFID orientation technology.Furthermore,the simulation results show that the proposed method is feasible and effective,and which can make up for the shortcomings of the path planning strongly depends on the electromagnetic substation environment.(6)Considering the working environment,system stability,intelligence and other factors of maintenance mobile robot,a logical model of task planning based on hierarchical hybrid system is designed,including task planning layer and behavior planning layer whose working principle are elaborated.So as to ensure the safety and flexibility of the system and meet the requirements of substation complex environment and live maintenance tasks,a complex hybrid hierarchical control system is proposed.And then the responsibilities and functions of each part are introduced in detail.Finally,in the simulation substation environment,the remote control,autonomous tracking and stopping,autonomous obstacle of maintenance mobile robot based on Mecanum wheel are tested and the results verify its feasibility.Therefore,it is the development direction of the smart grid to use the live maintenance mobile robot for substation equipment,which can also improve the safety and stability of substations.In addition,those special robots can be extended to the limit or dangerous environment,which has a broad application prospect. |
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