Design And Research Of Post Insulator Cleaning System In Substation

Since the reform and opening up,China's industrial production economy has been growing rapidly,and various industries have become more and more dependent on power.The pillar insulator is an integral part of electrical equipment such as isolation switch and circuit breaker.The safe and stable operation of power system is closely related to the safe operation of insulator.High pressure insulators may be contaminated by solid,liquid and gaseous conductive materials during long-term outdoor operation,which greatly reduces the pressure resistance of the insulator's external porcelain bottle.Insulator pollution flashover may occur in weather such as light rain,haze and condensation,resulting in power failure accident,which poses a threat to the safety of power supply.In addition,insulator is in a polluted environment for a long time,the insulation material of insulator's outer porcelain bottle will appear aging phenomenon.If it is not found and repaired in a timely manner,the electrical and mechanical properties of insulator on the surface of insulator will be damaged,even affecting the normal operation of insulator,resulting in line trip accident.The post insulator cleaning system of substation is designed and studied in this thesis to solve the disadvantages of the maintenance method of the external insulation of power equipment in China.This thesis introduces the current situation of high-voltage insulator cleaning at home and abroad in detail,determines the research content of this thesis and the structure arrangement of each chapter,and determines the operating requirements of insulator cleaning device according to the actual situation of the work site.Combined with the design principle of the mechanical arm in the high-voltage area,the insulation material of the mechanical arm and the microcomputer control system are determined.Through the insulator cleaning the system model of kinematics and dynamics simulation analysis,first using MATLAB simulation software of mechanical arm trajectory inverse kinematics simulation and actual work completed whether meet the conditions of cleaning system,the design of the parameters,and then on the basis of insulator connection between car and mechanical arm round base under the Ansys and hypermesh software modeling and simulation,whether by stress reach relevant technical indexes,avoid insulator cleaning the mechanical arm in the process of work,should design did not meet the requirements and the main structure of the car damage or cause an accident.By solving the inverse kinematics problem of the robot of insulator cleaning device,an improved particle swarm optimization(pso)algorithm is proposed to solve the inverse solution.The improved particle swarm optimization algorithm can guarantee the uniqueness of the inverse solution.It has higher precision of solution and can improve the accuracy of mechanical arm motion.Design the mechanical arm control part of the insulator cleaning device,including the hardware and software of control system,the use of industrial mechanical arm programming and simulation tools for the operation of the mechanical arm debugging,using servo control software servo motor current and torque,the relationship between the final and from the perspective of control theory shows that the controller + server mode control theory.