输电线路断股修复机器人自动上/下线飞行跟踪控制  

Automatic engagement/disengagement and flight tracking control of atransmission line breakage repair flying robot

作　　者：卓浩泽 王志永 李泰霖 杨忠[2] 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)

机构地区：[1]广西电网有限责任公司电力科学研究院广西电力装备智能控制与运维重点实验室,南宁530000 [2]南京航空航天大学自动化学院,南京211106

出　　处：《电测与仪表》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)。

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.

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 

分 类 号：TM75[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]