变电站带电水冲洗移动机器人控制系统研究

发布时间：2018-03-09 16:09

本文选题：变电站带电水冲洗移动机器人　切入点：机器人运动学　出处：《山东建筑大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着工业自动化迅速发展,由环境问题引发的综合污染问题日益加重,变电站内负责线路绝缘问题的绝缘子污秽问题也越来越严重,输变电设备的电瓷外绝缘的污闪事故发生机率也因此不断增加,污闪事故会导致大面积跳闸停电,造成系统瓦解和设备的损坏,给电网的运行安全带来了极大地隐患,严重影响供电可靠性。因社会发展的需要电力供应紧张,电力设备超负荷工作,加上部分绝缘子清扫困难,常规的大面积停电清扫操作复杂易出错,且会给社会造成了巨大经济损失,已不符合发展需要。为了提高变电站设备抗污闪能力,构建安全高效电网,更好地保障社会发展,必须加快带电水冲洗作业的研究与应用。本文以国家863计划资助下所设计的变电站带电水冲洗移动机器人为实验平台,研究设计了变电站带电水冲洗移动机器人的控制系统。该控制系统采用远程遥控设备借助工控机利用按键和摇杆实现远程操作机器人,使操作人员在远离危险的作业环境,其采用的工控机+触摸屏+运动控制器的控制方式简化了机器人的运动控制过程,提高了控制精度[3]。变电站带电水冲洗移动机器人不仅减少了劳动力,提高了作业人员的安全,而且提高了供电系统的经济效益和社会效益,极大地提高了带电水冲洗的自动化水平,符合社会发展的需要。论文主要进行了以下工作：首先介绍了变电站带电水冲洗移动机器人的整体结构,该机器人系统主要由履带式车体移动机构、升降作业平台、水冲洗子系统等组成,并对该机器人的组成进行了简单的分析介绍,为后面章节的介绍做准备。其次针对变电站带电水冲洗移动机器人的基本结构特征,对机器人的运动控制做了简单介绍,结合机器人的运动控制要求,对机械臂的运动学正逆解和移动车体的运动轨迹进行了分析。对运动学进行分析时,建立了机械臂的运动学模型,采用三角函数迭加方式代替D-H建模方式对机器人的正运动学分析,采用D-H建模+代数法的方式对机器人的逆运动学分析,由MATLAB对其进行仿真验证,为变电站带电水冲洗移动机器人控制系统的设计和实现提供了理论基础。然后根据带电水冲洗作业的需要,对水冲洗系统中的纯水制备和喷水压力系统进行了简单介绍,同时结合喷水压力系统对机器人的绝缘安全防护监控系统进行了分析介绍,为带电水冲洗作业的绝缘防护提供保障。最后主要阐述了变电站带电水冲洗移动机器人控制系统的组成、控制方式和系统的上位机实现,并结合控制系统的组成对基于工控机+触摸屏+运动控制器的开放式控制方式进行了详细介绍。
[Abstract]:With the rapid development of industrial automation, the problem of comprehensive pollution caused by environmental problems is becoming more and more serious, and the pollution problem of insulators responsible for line insulation in substations is becoming more and more serious. As a result, the probability of pollution flashover of external porcelain insulation of power transmission and transformation equipment also increases continuously. The pollution flashover accident will lead to a large area of tripping power outages, resulting in system collapse and equipment damage, which will bring great hidden danger to the operation safety of power grid. The reliability of power supply is seriously affected. Due to the need of social development, the power supply is tight, the power equipment is overloaded and some insulator cleaning is difficult, and the operation of conventional large-area blackout cleaning is complex and error-prone. In order to improve the anti-pollution and flicker capacity of substation equipment, to build a safe and efficient power grid, and to better ensure social development, it will cause huge economic losses to the society and will no longer meet the needs of development. It is necessary to speed up the research and application of live water washing. In this paper, the mobile robot for live water washing in substations, which is funded by the National 863 Program, is used as the experimental platform. The control system of mobile robot with live water washing in substation is studied and designed. This control system uses remote remote control equipment to realize remote operation of robot by using key and rocker with the help of industrial control computer, so that the operator is far from dangerous working environment. The control mode of the touch screen motion controller of the industrial control computer simplifies the motion control process of the robot and improves the control accuracy [3]. The mobile robot with live water washing in the substation not only reduces the labor force, but also improves the safety of the operators. Moreover, the economic and social benefits of the power supply system have been improved, and the automation level of electrified water washing has been greatly improved. The main work of this paper is as follows: firstly, the whole structure of the mobile robot with live water washing in substation is introduced. The robot system is mainly composed of crawler body moving mechanism, lifting and lifting platform. The composition of the robot is simply analyzed and introduced in order to prepare for the introduction of the following chapters. Secondly, the basic structural characteristics of the substation live water washing mobile robot are discussed. This paper briefly introduces the motion control of the robot, and analyzes the kinematics inverse solution of the robot arm and the motion track of the moving car body according to the motion control requirements of the robot. The kinematics model of manipulator is established. The forward kinematics of robot is analyzed by trigonometric function superposition instead of D-H modeling. The inverse kinematics of robot is analyzed by D-H modeling algebraic method, which is verified by MATLAB simulation. This paper provides a theoretical basis for the design and implementation of the mobile robot control system for live water washing in substations. Then, according to the needs of live water washing, the preparation of pure water and the water spray pressure system in the water washing system are briefly introduced. At the same time, combined with the water spray pressure system, the monitoring and control system for the insulation safety protection of the robot is analyzed and introduced. Finally, the composition, control mode and the realization of the upper computer of the control system of the mobile robot for live water washing in substations are mainly described. Combined with the composition of the control system, the open control mode based on the touch screen motion controller of industrial control computer is introduced in detail.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM63;TP242

【参考文献】