摘要
电力系统中的输电线路具有分布广和跨越大等特点,确保其安全和稳定运行尤为重要。现有的输电线路断股修复任务通过人工或爬线机器人完成,存在作业风险高、机器人上线难度大等问题。针对此文章提出一种可以通过飞行挂线完成输电线路断股修复任务的飞行机器人,设计自适应模糊自抗扰(adaptive fuzzy active disturbance rejection control, AFADRC)控制器,确保机器人能够实现自动飞行上/下线。仿真结果表明,该机器人在提高输电线路断股修复效率和降低人工成本方面表现出色,同时也提高了作业的安全性。
The power transmission lines in power system are characterized by their widespread distribution and extensive spanning,and making their safe and stable operation is of paramount importance.The existing transmission line breakage repair tasks are completed through manual labor or by climbing robots,presenting significant operational risks and difficulties in robot deployment.To address these issues,this paper proposes a flying robot capable of performing transmission line breakage repairs through aerial line attachment.An adaptive fuzzy active disturbance rejection control(AFADRC)system is designed to ensure the capability of automatic flight for engagement and disengagement of robot.Simulation results indicate that this robot excels in enhancing the efficiency of transmission line breakage repairs and reducing manual labor costs,while also improving the safety of the operation.
作者
卓浩泽
王志永
李泰霖
杨忠
蒋圣超
王斌
ZHUO Haoze;WANG Zhiyong;LI Tailin;YANG Zhong;JIANG Shengchao;WANG Bin(Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment,Electric Power Research Institute of Guangxi Power Grid Co.,Ltd.,Nanning 530000,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《电测与仪表》
北大核心
2024年第11期196-204,共9页
Electrical Measurement & Instrumentation
基金
广西电网有限责任公司科技项目(GXKJXM20 230169)。
关键词
输电线路断股修复
飞行机器人
自动上/下线
飞行跟踪控制
transmission line breakage repair
flying robot
automatic engagement and disengagement
flying tracking control
作者简介
卓浩泽(1986-),男,博士研究生,高级工程师,从事无人系统控制与管理、智能检测与控制技术、电磁测量技术研究。Email:zhuo_hz.sy@gx.csg.cn;王志永(1998-),男,硕士研究生,从事飞行机器人控制研究。Email:wangzhiyong@nuaa.edu.cn;通信作者:李泰霖(1985-),男,硕士,高级工程师,从事电测热工计量研究。Email:ltl1304@163.com;杨忠(1969-),男,博士,教授,从事控制科学与工程研究。Email:YangZhong@nuaa.edu.cn;蒋圣超(1988-),男,硕士,高级工程师,从事高电压实验技术研究。Email:444509382@qq.com;王斌(1987-)男,硕士,工程师,从事电测热工计量技术研究。Email:cwgbh1@163.com。
