Research On Active Anti-icing/De-icing Robot Control System For Power Transmission Lines

High-voltage transmission lines long lines,complex along the geographical environment,often crossing mountains and rivers lakes and forests,winter ice appears on the line has a huge threat.The traditional line deicing methods mainly include mechanical deicing,thermal melting and artificial deicing.In the traditional de-icing method,manual de-icing has the disadvantages of low de-icing efficiency and poor safety;thermal melting ice has a large energy consumption,and de-icing cannot be applied to the limitation of the ground wire.In view of the problems of lack of initiative and adaptability,short battery life of the existing de-icing robots,this paper studies the key technologies of the 110-kV high-voltage transmission line de-icing robot control system and completes the construction of the experimental prototype.The main research contents are as follows:(1)Based on the mechanical structure of the active anti-icing and de-icing robot designed by the project team,combined with the functional characteristics of the robot’s needs,after analyzing the structural characteristics of the existing control system,a hierarchical control system architecture is adopted.Then,the various functions of the robot are divided into layers,and the points and difficulties of each level of tasks are pointed out;(2)In order to solve the problem of the lack of initiative of the de-icing robot,the most important thing is to realize the function of the robot ice prediction.However,existing theories and models of icing prediction are not suitable for robots.Therefore,based on the analysis of historical ice coating data and ice coating mechanism,and based on the basic constraints of ice coating conditions,this paper proposes a prediction model of ice coating prediction based on Mahalanobis distance,and determines the determination threshold using the boundary samples of ice coating data.It has been verified that the model requires few parameters which are easy to obtain,and the judgment is accurate.So it is more suitable for robot carrying applications.In order to solve the lack of adaptability of the de-icing robot de-icing,an optimal de-icing speed regulator based on the thickness of the ice is designed.The regulator can adjust the walking and deicing speed of the deicing robot according to the thickness of the ice coating on the line,so that it is in the optimal deicing speed state,and the power consumption can be significantly reduced compared to the robot high-power constant-speed deicing.In response to the above requirements of the speed regulator for robot speed control,this paper uses PID control algorithm to control the motor speed,and in order to overcome the problems of poor robustness of the general PID control algorithm,a fuzzy control theory method is introduced to adaptively adjust PID parameters to improve the response characteristics of the motor speed control system.Finally,under the Simulink environment of MATLAB,simulation models of each level of the control system were built,and the simulation verified the feasibility and correctness of the function realization of each level of the system;(3)In order to realize the prediction model,de-icing planning and control algorithm proposed above,the hardware system of the robot control system was built and the corresponding software design was carried out.According to the control requirements of the control system,the thesis selects STM32F427 as the microcontroller of the robot body,calculates and selects the important motors of the robot,and determines the control mode.After setting up the control system hardware platform,the main program logic and interrupt service program of the control system are designed in detail.Finally,based on Keil μvision5integrated development environment,the software program is written,debugged and burned;(4)The prototype of the de-icing robot was fabricated and debugged,and the robot’s walking,de-watering and de-icing experiments,active tests and power consumption tests were completed on the 110 kV transmission line test environment built in the laboratory.The test verified the correctness of the de-icing robot mechanical mechanism design,de-icing design and control system design.