本文選題：變電站帶電水沖洗移動機器人　切入點：機器人運動學(xué)　出處：《山東建筑大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著工業(yè)自動化迅速發(fā)展,由環(huán)境問題引發(fā)的綜合污染問題日益加重,變電站內(nèi)負(fù)責(zé)線路絕緣問題的絕緣子污穢問題也越來越嚴(yán)重,輸變電設(shè)備的電瓷外絕緣的污閃事故發(fā)生機率也因此不斷增加,污閃事故會導(dǎo)致大面積跳閘停電,造成系統(tǒng)瓦解和設(shè)備的損壞,給電網(wǎng)的運行安全帶來了極大地隱患,嚴(yán)重影響供電可靠性。因社會發(fā)展的需要電力供應(yīng)緊張,電力設(shè)備超負(fù)荷工作,加上部分絕緣子清掃困難,常規(guī)的大面積停電清掃操作復(fù)雜易出錯,且會給社會造成了巨大經(jīng)濟(jì)損失,已不符合發(fā)展需要。為了提高變電站設(shè)備抗污閃能力,構(gòu)建安全高效電網(wǎng),更好地保障社會發(fā)展,必須加快帶電水沖洗作業(yè)的研究與應(yīng)用。本文以國家863計劃資助下所設(shè)計的變電站帶電水沖洗移動機器人為實驗平臺,研究設(shè)計了變電站帶電水沖洗移動機器人的控制系統(tǒng)。該控制系統(tǒng)采用遠(yuǎn)程遙控設(shè)備借助工控機利用按鍵和搖桿實現(xiàn)遠(yuǎn)程操作機器人,使操作人員在遠(yuǎn)離危險的作業(yè)環(huán)境,其采用的工控機+觸摸屏+運動控制器的控制方式簡化了機器人的運動控制過程,提高了控制精度[3]。變電站帶電水沖洗移動機器人不僅減少了勞動力,提高了作業(yè)人員的安全,而且提高了供電系統(tǒng)的經(jīng)濟(jì)效益和社會效益,極大地提高了帶電水沖洗的自動化水平,符合社會發(fā)展的需要。論文主要進(jìn)行了以下工作：首先介紹了變電站帶電水沖洗移動機器人的整體結(jié)構(gòu),該機器人系統(tǒng)主要由履帶式車體移動機構(gòu)、升降作業(yè)平臺、水沖洗子系統(tǒng)等組成,并對該機器人的組成進(jìn)行了簡單的分析介紹,為后面章節(jié)的介紹做準(zhǔn)備。其次針對變電站帶電水沖洗移動機器人的基本結(jié)構(gòu)特征,對機器人的運動控制做了簡單介紹,結(jié)合機器人的運動控制要求,對機械臂的運動學(xué)正逆解和移動車體的運動軌跡進(jìn)行了分析。對運動學(xué)進(jìn)行分析時,建立了機械臂的運動學(xué)模型,采用三角函數(shù)迭加方式代替D-H建模方式對機器人的正運動學(xué)分析,采用D-H建模+代數(shù)法的方式對機器人的逆運動學(xué)分析,由MATLAB對其進(jìn)行仿真驗證,為變電站帶電水沖洗移動機器人控制系統(tǒng)的設(shè)計和實現(xiàn)提供了理論基礎(chǔ)。然后根據(jù)帶電水沖洗作業(yè)的需要,對水沖洗系統(tǒng)中的純水制備和噴水壓力系統(tǒng)進(jìn)行了簡單介紹,同時結(jié)合噴水壓力系統(tǒng)對機器人的絕緣安全防護(hù)監(jiān)控系統(tǒng)進(jìn)行了分析介紹,為帶電水沖洗作業(yè)的絕緣防護(hù)提供保障。最后主要闡述了變電站帶電水沖洗移動機器人控制系統(tǒng)的組成、控制方式和系統(tǒng)的上位機實現(xiàn),并結(jié)合控制系統(tǒng)的組成對基于工控機+觸摸屏+運動控制器的開放式控制方式進(jìn)行了詳細(xì)介紹。
[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.
【學(xué)位授予單位】：山東建筑大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TM63;TP242

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本文編號：1589257