| The application of disconnecting circuit breakers(DCB)in the new generation of intelligent substations in China,which replace the conventional solution using circuit breakers and disconnectors simultaneously,enables the required space for the substation to be significantly reduced and at the same time improves reliability.However,as a DCB integrates conventional circuit breaker with disconnector into one single unit,it is necessary to power off the DCB before maintenance.The outage causes large range of power failure.As a result,live-line maintenance is of vital importance.Live-line maintenance mobile robot is used to realize live-line maintenance on a DCB by disassembling & assembling the novel electric power fittings lively and automatically.These two operations power off/on the DCB before/after its maintenance,which improve the efficiency as well as safety during maintenance.This paper begins with equal potential live-line maintenance,analyzes some relative theories about DCBs and electric power fittings,and composes the operation specifications of live-line maintenance for the first time.With these specifications,security of devices & operators,stability & reliability during maintenance are ensured maximally.Secondly,the architecture of control system for live-line maintenance mobile robot is analyzed and studied.Network communication solution based on multi-protocols and multi-forms is proposed.Redundant communication is also used to guarantee the safety and reliability during operation.Consequently,something can be done no matter it is in regular operation or abnormal error under the circumstance of complex environment and strong electromagnetic interference in the substation.Then,the navigation system based on measuring light curtains is put forward which is specific to the uneven ground in the substation.Design,components selection,mathematical modeling and simulation(MATLAB sole simulation,RecurDyn & MATLAB/Simulink co-simulation)are implemented.After simulation,optimal parameters of control algorithm and its feasibility are confirmed,as well as the raise of requirements for mobile platform navigation circumstance.Last but not least,in consideration of the influence of high voltage and strong electromagnetic field during live-line maintenance,the KUKA robot control system based on mxAutomation interface is proposed.By means of the design of hardware architecture,communication protocol between IPC & PLC and software architecture,this robot control system is realized which uses an IPC to control two KUKA robots based on a PLC.Experiment shows that the control system meets the requirements of control performance in the aspects of communication between IPC and PLC,stability and precision in KUKA robot control and anti-interference under the circumstance of high voltage and strong electromagnetic. |
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