| With the development of economy and urbanization,annual power generation and consumption scale in China continue to grow.At the same time,power industry in China is facing new challenges and development opportunities.The power industry is facing the trend of overhead lines entering the ground and the wave of transformation and upgrading of industrial structure.In this trend,the special high voltage power cable will occupy an increasingly important position.However,at present,in the production and processing of special high-voltage power cables in China,the high-precision processing of cable joints has not been well solved.Every year,a lot of major power grid accidents in our country are caused by cable failure,among which cable joint failure is the main reason.Most of the traditional production and processing methods are inefficient,and the accuracy is difficult to guarantee.They are mostly completed manually,time-consuming and laborious.How to realize the joint processing of special high-voltage power cable with automation equipment,to ensure the processing efficiency and accuracy,and to put it into the practical application in the power industry,has become the research hotspot and problem in the field of power cable in China.In this paper,we carried out our research based on a new type of automatic cutting equipment designed by ourselves.The mechanical design of the system and the selection of electrical components are realized.Based on the embedded Beckhoff controller,the relevant control program and user function software are developed.The research on the measurement and cutting method of special high voltage power cable joint is realized.The reliability of the design and method proposed in this paper is verified by the measurement,cutting,tool comparison and feed speed experiments.Firstly,the system of automatic cutting equipment is built.This paper design machine tools based on modular approach.Cutting tools are designed.Sensors,drivers,motors and controllers are selected.Finally,the system is built.Then,the control program and user software of the automatic cutting machine are developed.The motor control,three-axis linkage strategy under different working modes,data interaction between laser displacement sensor and controller are researched and developed.According to the functional requirements of the system,the user software is designed based on Twin CAT and embedded 32-bit Win CE system.Using modular design,the development of user management module,maintenance module,engineer module and operation module is realized.Secondly,the measurement and cutting algorithm of high voltage cable joints are studied.The measurement error mathematical model of the laser displacement sensor is established,the installation parameters of the sensor are calibrated,and the profile fitting and reconstruction of the measured section and axis are carried out based on the least square method.The installation parameters of the tool are calibrated,and the coordinate system of the tool and the laser is transformed.The final real-time cutting tool path is obtained by translation rotation coordinate transformation matrix,interpolation algorithm and data smoothing algorithm.Finally,the mechanical reliability,control software,measurement and cutting function of the new cutting machine designed in this paper are tested by experiments.The experiments of profile measurement,profile cutting,tool comparison and feed speed are carried out.Through experiments,it is proved that the automatic processing system and measurement and cutting algorithm of high-voltage cable joint researched in this project can realize the effective processing of cable joint,ensure the processing accuracy and improve the processing efficiency. |
