Research On Magnetic Driving Method For Inspection Robot For HVDC Transmission Lines

A new magnetic driving method was introduced in order to eliminate slippage problem of wheel-arm-structured inspection robot for high voltage direct current(HVDC)transmission.This paper presents a magnetic drive method based on HVDC magnetic field.The use of current-carrying coil in the HVDC magnetic field by the ampere force as the driving force of the traction robot to replace the motor-driven wheel-rail movement,so as to eliminate the slipping problem effectively.According to the above method,this paper has done the following aspects:1.In this paper,the magnetic field characteristics of the overhead HVDC transmission line are studied.The interference of the ring magnetic field of the high voltage line in the unipolar and bipolar line is negligible.The magnetic field lines of the high voltage DC magnetic field can be treated as vertical The concentric circles of the high voltage wires simplify the subsequent design and mathematical model analysis.2.This paper studies the shortcomings of the structure of the wheelarm-structured inspection robot and the poor wind-resistant capacity,and puts forward the overall structure of the magnetically driven robot to realize the physical model and the solid model of the magnetic drive.3.The relationship between the magnetic driving force and the radius of the physical model is analyzed.The mathematical model is used to determine the optimal range of the radius of the magnetic driving force model.The relationship between the magnetic driving force and the coil turns is analyzed.Comprehensive analysis to optimize the magnetic drive force model.4.Based on the design and parameter optimization of the magnetic force driving force model,the simulation physical model is established.The simulation results of the magnetic drive system under the conditions of changing the high voltage current and the number of turns are studied respectively,and the calculated values of the magnetic driving force are compared and analyzed.The results show that the proposed magnetic drive method is theoretically correct.5.The torque balance model is proposed,and it is feasible to analyze the moment model to realize the equilibrium state of the machine.The control flow chart of the magnetic drive system is designed,and the control flow chart of combine the magnetic drive system with the torque balance system is designed.In this paper,the magnetic drive system is established and experimented.The experimental results show that the proposed magnetic driving method is technically feasible.