Design And Research Of Insulating Robot For 10kV Overhead Line

The failure of 10 KV power distribution line is an important part for regional power outages.Overhead power distribution lines usually use exposed wires.Compared with insulated wires,exposed wires are cheaper and better for heat dissipation.However,the environment of overhead lines is complex,such as growing branches and falling foreign objects which can cause short circuit accidents.Traditional line insulation generally adopts manual replacement of insulated wires.The traditional method has low work efficiency and poor safety.Up to now,the overhead line insulating robots that have been proposed in China still have problems like heavy weight,complex structure,and environmental pollution during the insulation process.Therefore,this paper has developed a new overhead line insulating robot for 10 k V overhead lines.The design and analysis of the robot are as follows.(1)The walking module and insulation module of the insulated robot is designed.The insulation method and driving principle of insulation module is analyzed in detail.Otherwise,the working process of the designed insulated robot on the overhead line is described,which exists the weight and walking problems.(2)Using topology optimization and multi-objective optimization to achieve lightweight insulating robot.The key components of the insulating robot is analyzed,which is optimized by the topology method based on the minimum flexibility problem.Besides,in view of the shortcomings of the particle swarm algorithm that is easy to fall into the local optimum,three improvements are proposed: inertia weight,optimal selection and particle mutation.The generation distance and the space are used to evaluate the improved multi-objective particle swarm optimization algorithm,NSGA-II,and the randomly selected multi-objective particle swarm algorithm.Those based on the ZDT test function set are used to verify the feasibility of the improved multi-objective particle swarm algorithm.Then,the multi-objective optimization model of the insulating robot after the topology is established,and the Pareto Front solution is calculated by the MATLAB-ANSYS coupling model.Finally,the preference of the two goals of rigidity and quality is calculated by the "cost-effectiveness" method.According to the optimization results,the strength of the key components is checked and the insulation coating robot prototype is built.(3)According to the prototype of insulating robot,the stress,control method and roll detection are analyzed in turn.Firstly,the contact model of the robot’s walking wheel and the overhead line is established based on the insulated robot prototype.The ANSYS Workbench is used to analyze the static and dynamic stress characteristics of the walking wheel.Secondly,based on the dynamic analysis results of the walking wheel,fuzzy PID is used as the control strategy of the walking motor to reduce the influence of uncertain factors in the environment.Then,a fuzzy PID controller is built in the Simulink environment of MATLAB,and related simulations are performed.The transfer function of the controller is the current-speed function of the walking motor identified by the frequency response method.Finally,a fourth-order Butterworth low-pass filter is used to filter the output of the on-board accelerometer and gyroscope,and the quaternion method is used to calculate the walking posture of the insulated robot on the overhead line.(4)The hardware architecture of the robot control system is designed.And the logic programming of the robot is completed in the Keil μvision5 environment.Finally,the insulating robot moving and wire insulation experiments were completed in laboratory.