吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (2): 567-576.doi: 10.13229/j.cnki.jdxbgxb201702031

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Energy saving control method of downslope speed for high-voltage transmission line inspection robot

YANG Zhi-yong1, WU Gong-ping1, 2, WANG Wei1, GUO Lei1, YANG Shou-dong3, CAO Qi3, ZHANG Yi-jie1, HU Peng1   

  1. 1.School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China;
    2.Guangdong Keystar Intelligence Robot Co., Ltd., Foshan 528300, China;
    3.Baishan Power Supply Bureau,State Grid Jilin Electric Power Co.,Baishan 134300, China
  • Received:2015-10-26 Online:2017-03-20 Published:2017-03-20

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Abstract: In order to decrease the energy consumption of the inspection robot for high-voltage transmission lines and control the downslope speed, a speed control method without motive power is proposed. The proposed method combines the regenerative braking and dynamic braking. By analyzing the force of the robot in downslope process, speed control and energy recovery schemes are designed, which combine front wheel regenerative braking and rear wheel dynamic braking. According to the catenary construction feature of the lines, a strategy to control the robot at constant speed without motive power in the downslope process is presented. Based on characteristic analysis of the front and rear wheels when the robot is going downslope at constant speed without motive power, the range of speed of the direct current dynamo of front wheel for energy feedback is obtained. The speed control of the rear wheel energy consumption is realized by adjusting PWM wave duty cycle. The PWM wave duty cycle error of the control system, which is caused by the factors, such as sensor check and line working conditions, is corrected by adopting RBF neural network control model. Experiments are carried out on both simulated and real high-voltage transmission lines. Results show that the proposed method can achieve the purpose of downslope speed control and saving energy consumption.

Key words: automatic control technology, inspection robot, high-voltage transmission lines, energy braking, regenerative braking

CLC Number: 

  • TP242.6
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