基于CWT和PSO的500 kV带电作业机器人抑振分析  

Vibration Suppression Analysis of 500 kV Power Strip Operation Robot Based on CWT and PSO

作　　者：狄正辉 吴田 刘凯 罗宇 王明 曾忱 DI Zhenghui;WU Tian;LIU Kai;LUO Yu;WANG Ming;ZENG Chen(College of Electricity and New Energy,Three Gorges University,Yichang Hubei 443002,China;China Electric Power Research Institute,Wuhan Hubei 430074,China;State Grid Hubei Power Transmission and Transformation Engineering Co.,Ltd.,Wuhan Hubei 430000,China)

机构地区：[1]三峡大学电气与新能源学院,湖北宜昌443002 [2]中国电力科学研究院有限公司,湖北武汉430074 [3]国网湖北送变电工程有限公司,湖北武汉430000

出　　处：《机床与液压》2025年第5期8-14,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51807110)。

摘　　要：针对500 kV输电线路引流板螺栓紧固机器人在柔性架空线路上运行过程中作业末端姿态产生耦合振动的问题,提出一种基于连续小波变换(CWT)和粒子群优化算法(PSO)的顶升系统抑振策略。通过采用连续小波变换处理机器人作业末端抖动数据,提取时频图的振荡幅值特征,并以末端最大振动幅值作为优化程度指标,利用粒子群优化算法调节顶升系统输出作用力,从而抑制机器人作业末端姿态振动。为验证所提抑振策略的有效性,基于柔性输电线路与刚性机器人的耦合特性,在ADAMS中建立模型,并与MATLAB进行联合仿真,分别研究有无顶升系统调节时机器人在不同距离行驶与作业工况下末端姿态响应。仿真与实验结果表明:该系统可有效抑制柔性架空输电线路上的机器人末端姿态振动,提高运行稳定性。Aiming at the problem of coupled vibration generated by the attitude of the operation end of the 500 kV transmission line lead plate bolt fastening robot during the operation of the flexible overhead line,a vibration suppression strategy for jacking system based on continuous wavelet transform(CWT)and particle swarm optimization(PSO)algorithm was proposed.The continuous wavelet transform was used to process the robot end-of-operation jitter data,then the oscillation amplitude characteristics of the time-frequency diagram were extracted,and the maximum end-of-operation vibration amplitude was taken as an index of the optimization degree,and the particle swarm optimization algorithm was used to regulate the output force of the jacking system,so the vibration of the robot′s end-of-operation attitude was suppressed.In order to verify the effectiveness of the proposed vibration suppression strategy,based on the coupling characteristics of flexible transmission lines and rigid robots,a model was established in ADAMS,and joint simulation with MATLAB was carried out to investigate the end attitude response of the robot with and without jacking system regulation at different distances and under different operating conditions.The simulation and experimental results show that the system can effectively suppress the robot end attitude vibration on flexible overhead transmission lines and improve the operational stability.

关 键 词：带电作业机器人 刚柔耦合 顶升系统 连续小波变换 振动抑制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]