基于非对称耦合综合优化算法的机器人无线充电技术应用
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摘要
文章提出非对称耦合优化综合算法,通过多目标函数优化,基本不受低频磁场的影响,在变电站机器人巡检路线上设置无线充电点,满足机器人持续充电需要,续航能力对比原来无线充电技术提升至10倍以上,可对变电站巡检机器人进行实时充电并优化管理,降低机器人充电故障率并提高其利用率,发挥机器人替代运维人员部分工作,实现人机协同作业为电网安全提供保障,实现GIS智能变电站真正自主寻源和非对称无线充电的机器人巡检。采用非对称耦合无线方式充电,可以克服传统供电成本高、可靠性低等问题。
This paper presents an asymmetric coupling synthesis optimization algorithm,through multi-objective function optimization,it is almost unaffected by low-frequency magnetic field. Setting wireless charging points on the substation robot inspection route to meet the requirements of robot continuous charging,so that the battery life compared to the original no wireless charging technology are up to 10 times more. The failure rate can be reduced and the charging efficiency can be improved through real-time charging and management optimization. Giving full play to the work of robots instead of operation and maintenance personnel,the cooperation between man and machine to provide power grids security and the automatic inspection of GIS intelligent substation and asymmetric wireless charging are realize. Through using asymmetric coupling wireless charging,the problems of high traditional power supply cost and low reliability are overcome.
This paper presents an asymmetric coupling synthesis optimization algorithm,through multi-objective function optimization,it is almost unaffected by low-frequency magnetic field. Setting wireless charging points on the substation robot inspection route to meet the requirements of robot continuous charging,so that the battery life compared to the original no wireless charging technology are up to 10 times more. The failure rate can be reduced and the charging efficiency can be improved through real-time charging and management optimization. Giving full play to the work of robots instead of operation and maintenance personnel,the cooperation between man and machine to provide power grids security and the automatic inspection of GIS intelligent substation and asymmetric wireless charging are realize. Through using asymmetric coupling wireless charging,the problems of high traditional power supply cost and low reliability are overcome.
引文
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[18]赵兴勇,张秀彬,何斌.优化有载调压变压器改善电压稳定性的新算法[J].高电压技术,2007,33(10):170-173,182.ZHAO Xingyong,ZHANG Xiubin,HE Bin.Novel algorithm of improving voltage stability by optimizing modification of OLTC[J].High Voltage Engineering,2007,33(10):170-173,182.
[19]潘晓杰,刘涤尘,任冲,等.一种研究电压稳定的有载调压变压器模型[J].高电压技术,2006,32(2):21-23,86.PAN Xiaojie,LIU Dichen,REN Chong,et al.OLTC model for studing voltage stability[J].High Voltage Engineering,2006,32(2):21-23,86.
[20] CHIANG H D,FLUECK A J,SHAH K S,et al.CPFLOW:a practical tool for tracing power system steady-state stationary behavior due to load and generation variations[J].IEEE Transactions on Power Systems,1995,10(2):623-634.
[2]张金贵,李从飞.基于无线技术的变电站自动巡检机器人[J].电气自动化,2014,36(2):36-38.ZHANG Jingui,LI Congfei.Substation patrol robot based on wireless technologies[J].Electrical Automation,2014,36(2):36-38.
[3]李向东,鲁守银,王宏,等.一种智能巡检机器人的体系结构分析与设计[J].机器人,2005,27(6):502-506.LI Xiangdong,LU Shouyin,WANG Hong,et al.Design and analysis on the architecture of an intelligent iterative inspection robot[J].Robot,2005,27(6):502-506.
[4]张家乐,廖刚,王凡,等.基于电磁感应的无线充电研究[J].实验科学与技术,2013,11(6):191-193.ZHANG Jiale,LIAO Gang,WANG Fan,et al.Research on the wireless charger based on electromagnetic induction[J].Experiment Science and Technology,2013,11(6):191-193.
[5]NOTTIANI D G,LECCESE F.A simple method for calculating lumped parameters of planar spiral coil for wireless energy transfer[C]//2012 11th International Conference on Environment and Electrical Engineering,May 18-25,2012,Venice,Italy.
[6]JONAH O,GEORGAKOPOULOS S V.Wireless power transfer in concrete via strongly coupled magnetic resonance[J].IEEE Transactions on Antennas and Propagation,2013,61(3):1378-1384.
[7]傅文珍,张波,丘东元,等.自谐振线圈耦合式电能无线传输的最大效率分析与设计[J].中国电机工程学报,2009,29(18):21-26.FU Wenzhen,ZHANG Bo,QIU Dongyuan,et al.Maximum efficiency analysis and design of self-resonance coupling coils for wireless power transmission system[J].Proceedings of the CSEE,2009,29(18):21-26.
[8]周双喜.电力系统电压稳定性及其控制[M].北京:中国电力出版社,2004:80.
[9]李晓磊.一种新型的智能优化方法-人工鱼群算法[D].杭州:浙江大学,2003.
[10]张宗明.非接触电能传输系统电磁机构研究[D].重庆:重庆大学,2007.
[11]王智慧,吕潇,孙跃,等.谐振式无线电能传输系统损耗模型[J].电工技术学报,2014,29(9):17-21.WANG Zhihui,LüXiao,SUN Yue,et al.Modeling of power loss in resonant wireless power transfer system[J].Transactions of China Electrotechnical Society,2014,29(9):17-21.
[12]周双喜.电力系统电压稳定性及其控制[M].北京:中国电力出版社,2004:68.
[13]张伯明,陈寿孙,严正.高等电力网络分析[M].2版.北京:清华大学出版社,2007:103.
[14]胡彩娥.应用基于连续潮流算法的遗传算法进行静态电压稳定分析[J].电网技术,2004,28(15):57-61.HU Caie.Application of continuous power flow based genetic algorithm to analysis of static voltage stability[J].Power System Technology,2004,28(15):57-61.
[15] AJJARAPU V,CHRISTY C.The continuation power flow:a tool for steady state voltage stability analysis[J].IEEE Transactions on Power Systems,1992,7(1):416-423.
[16]李增国,王锐,邢卫荣.基于连续潮流和模态分析的电压稳定分析[J].电力自动化设备,2009,29(9):81-84.LI Zengguo,WANG Rui,XING Weirong.Voltage stability analysis based on continuation power flow and modal analysis[J].Electric Power Automation Equipment,2009,29(9):81-84.
[17] AJJARAPU V,CHRISTY C.The continuation power flow:a tool for steady state voltage stability analysis[J].IEEE Transactions on Power Systems,1992,7(1):416-423.
[18]赵兴勇,张秀彬,何斌.优化有载调压变压器改善电压稳定性的新算法[J].高电压技术,2007,33(10):170-173,182.ZHAO Xingyong,ZHANG Xiubin,HE Bin.Novel algorithm of improving voltage stability by optimizing modification of OLTC[J].High Voltage Engineering,2007,33(10):170-173,182.
[19]潘晓杰,刘涤尘,任冲,等.一种研究电压稳定的有载调压变压器模型[J].高电压技术,2006,32(2):21-23,86.PAN Xiaojie,LIU Dichen,REN Chong,et al.OLTC model for studing voltage stability[J].High Voltage Engineering,2006,32(2):21-23,86.
[20] CHIANG H D,FLUECK A J,SHAH K S,et al.CPFLOW:a practical tool for tracing power system steady-state stationary behavior due to load and generation variations[J].IEEE Transactions on Power Systems,1995,10(2):623-634.