沿地线穿越越障巡线机器人能耗模型的研究  

Research on energy consumption model of autonomous inspection robot for grounding wire of overhead transmission line

作　　者：付兴伟[1] 景辉 吴功平[1] 王伟[1] 何缘[1] 杨智勇[1] 刘明[2] 曹琪[2] 杨景波 于建友 石磊[2] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]吉林省电力有限公司白山供电公司,吉林白山134300

出　　处：《武汉大学学报（工学版）》2014年第4期565-570,共6页Engineering Journal of Wuhan University

基　　金：国家863计划资助项目(编号:2006AA04Z202)

摘　　要：根据高压输电线路障碍物的类型,研制了沿地线穿越越障自主越障巡线机器人,而能耗预测是高压线路巡线机器人要解决的一项关键技术问题.分析了其在架空地线上的行驶及越障方式,并根据架空地线呈悬链状的特点,建立了机器人上下坡匀速行驶时行走轮的力学模型,同时根据已有的架空地线数学模型,通过曲线积分法推导出了基于相邻杆塔的水平档距、高差、地线比载、地线水平应力等线路工况参数的能耗模型.最后通过实验验证了该能耗模型的正确性和实用性,为巡检机器人的电源选型以及制定线路的巡检方案提供了相应的理论依据.According to the type of high voltage transmission line obstacles,developed the autonomous inspection robot that acrossing through the obstacles,and energy consumption prediction is a key technology for high voltage transmission line inspection robot to solve.This paper analyzes the ways of driving and acrossing through obstacles on the overhead grounding line,and according to the characteristics of the catenary overhead grounding line,establishes the mechanical model of walking wheel when uphill and downhill driving at a steady speed,and according to the mathematical model of overhead grounding line,the energy consumption model based on horizontal span,adjacent tower height,the specific load of grounding line,the horizontal stress of grounding line,etc,the line parameters are derived by curve integral method.Finally,the correctness and practicability of the energy consumption model is verified by experiment,so as to provide the corresponding theoretical basis for selection of inspection robot and the development of power line inspection scheme.

关 键 词：架空地线 巡检机器人 能耗模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]