高压绝缘子带电清洁装置及其控制系统研究
摘要
绝缘子在架空输电线路中起着支撑导线和防止电流回地的作用。在自然条件下，绝缘子的表面，经常被导电物质污染。遇到潮湿天气时，污层在湿润作用下，电导增大，泄漏电流增加，产生局部放电，达到和超过临界状态时，发生电弧闪络，称为污闪。小污闪事故引起的一般停电事故可造成几十万至几百万KWh的电量损失，大面积、长时间的停电事故则可造成达千万KWh的损失。由于污闪事故引起的突然的、长时间的停电对国民经济造成的间接损失则更是无法估量的。要想防止绝缘子污闪的发生，必须定期对绝缘子进行停电清扫。目前，国内外对户外高压架空输电线路悬式绝缘子的自动带电清扫无可行方法，提出以技术成熟的线路巡检机器人作为移动平台，安装一个绝缘子清洁机械手。本研究对此进行探索和设计，开展了以下工作：
（1）确定高压绝缘子带电清洁机械手的运动范围和清洁工作的规范参数及要求，明确了带电清洁装置的目标。
（2）分析机械手的运动空间和工作要求，设计机械手的结构，确定机械手各构件参数，对机械手的结构、功能进行系统的设计和校核。根据电机的规格和连杆的尺寸以及连杆材料的密度，估算整个机械手的总重量，验证是否满足机械手的要求。
（3）运用D-H法对机械手建立连杆坐标系，进行坐标系的齐次矩阵转换，求出末端执行机构的齐次变换矩阵，代入机械手各关节变量的初始值，验证变换矩阵的正确性。针对悬式绝缘子直线分布的特性，试用直角坐标系坐标分解法取代存在多解问题的运动学逆解的方法，简化求解运算，为控制系统路径规划提供最快速的算法。
（4）针对机械手的精确控制的要求，设计上、下位机结构的控制系统，上位机使用DSP微处理器ADSP2106X进行机械手路径规划和系统监控，数据传输使用多接口的CAN总线，下位机使用单片机及其外围电路组成的四个分别控制各关节的单片机系统，对各关节进行独立控制，以实现机械手的精确定位。
结果表明，机械设计满足要求，存在一些问题有待进一步研究。
Insulators play two basic function in overhead transmission lines, supportingoverhead transmission lines and preventing the current back to the earth.In the naturalconditions, the surface of insulators are often polluted by conductive material. When itmeet the wet weather, under the wet function, the conductance of dirt layer increases,and the leakage current increases, then the partial discharge produces. Partial dischargeoccurs and develops constantly,when it reaches or exceeds the critical state, the arcflashover occurs, this kind of flashover is called pollution flashover. The generalpower outage which was caused by small pollution flashover accident could bringabout the power loss from hundreds of thousands to millions KWH, the power losswhich was brought about by the large area and long time power outage could be up toten million KWH. The indirect loss of the national economy which was due to thesudden, long time power outage caused by pollution flashover accident wasimmeasurable. Preventing the occurrence of insulator pollution flashover, insulatorsmust be cleaned regularly. For there was no feasible way for cleaning the suspensioninsulator of the Outdoor high overhead transmission lines, the idea of installing ainsulator clean manipulator to a mobile platform which was used a mature technologyline inspection robot as was puted forward. This idea was researched and designedtentatively, and the following work was carried out:
(1) The range of the High voltage insulator charged manipulator’s movement andthe standard parameters and requirements of the cleaning were determined, the goal ofthe charged cleaning device was determined.
(2) The movement space and work requirement of the manipulator were Analyzed,the structure of the manipulator was designed, the parameters of the manipulator’scomponents were determineded, the structure and function of the manipulator weredesigned and checked systematically. According to the specifications of the motorsand the size of the connecting rods and the density of connecting rods’s material, thetotal weight of the manipulator was estimated, to verify whether meet the requirementsof the manipulator.
(3) The connecting rod coordinate system of manipulator was established byuseing D-H method, coordinate systems were transformed by the homogeneous matrix,the final homogeneous transformation matrix of the terminal actuating mechanismwere worked out, each joint’s variables was replaced by the manipulator’s initial value,the correctness of the transformation matrix was verified. According to thecharacteristics of linear distribution of the suspension insulator, the method ofdecomposing coordinate in the right Angle coordinate system was tryed to replace theInverse kinematics method which has Multiple solutions, then the operation wassimplified, the most rapid path planning algorithm was provided to control system.
(4) The control system according to the requirements of the accurate control ofthe manipulator was designed, DSP microprocessor was used for manipulator’s pathplanning and monitoring system, the much interface CAN bus was used for datatransmission, four SCM system which controled each joint respectively werecomposed by single-chip microcomputer and their peripheral circuit, the accuratelocation of the manipulator was realized.
The results showed that the mechanical design meet the demands, there weresome problems need to be studied further.
（1）确定高压绝缘子带电清洁机械手的运动范围和清洁工作的规范参数及要求，明确了带电清洁装置的目标。
（2）分析机械手的运动空间和工作要求，设计机械手的结构，确定机械手各构件参数，对机械手的结构、功能进行系统的设计和校核。根据电机的规格和连杆的尺寸以及连杆材料的密度，估算整个机械手的总重量，验证是否满足机械手的要求。
（3）运用D-H法对机械手建立连杆坐标系，进行坐标系的齐次矩阵转换，求出末端执行机构的齐次变换矩阵，代入机械手各关节变量的初始值，验证变换矩阵的正确性。针对悬式绝缘子直线分布的特性，试用直角坐标系坐标分解法取代存在多解问题的运动学逆解的方法，简化求解运算，为控制系统路径规划提供最快速的算法。
（4）针对机械手的精确控制的要求，设计上、下位机结构的控制系统，上位机使用DSP微处理器ADSP2106X进行机械手路径规划和系统监控，数据传输使用多接口的CAN总线，下位机使用单片机及其外围电路组成的四个分别控制各关节的单片机系统，对各关节进行独立控制，以实现机械手的精确定位。
结果表明，机械设计满足要求，存在一些问题有待进一步研究。
Insulators play two basic function in overhead transmission lines, supportingoverhead transmission lines and preventing the current back to the earth.In the naturalconditions, the surface of insulators are often polluted by conductive material. When itmeet the wet weather, under the wet function, the conductance of dirt layer increases,and the leakage current increases, then the partial discharge produces. Partial dischargeoccurs and develops constantly,when it reaches or exceeds the critical state, the arcflashover occurs, this kind of flashover is called pollution flashover. The generalpower outage which was caused by small pollution flashover accident could bringabout the power loss from hundreds of thousands to millions KWH, the power losswhich was brought about by the large area and long time power outage could be up toten million KWH. The indirect loss of the national economy which was due to thesudden, long time power outage caused by pollution flashover accident wasimmeasurable. Preventing the occurrence of insulator pollution flashover, insulatorsmust be cleaned regularly. For there was no feasible way for cleaning the suspensioninsulator of the Outdoor high overhead transmission lines, the idea of installing ainsulator clean manipulator to a mobile platform which was used a mature technologyline inspection robot as was puted forward. This idea was researched and designedtentatively, and the following work was carried out:
(1) The range of the High voltage insulator charged manipulator’s movement andthe standard parameters and requirements of the cleaning were determined, the goal ofthe charged cleaning device was determined.
(2) The movement space and work requirement of the manipulator were Analyzed,the structure of the manipulator was designed, the parameters of the manipulator’scomponents were determineded, the structure and function of the manipulator weredesigned and checked systematically. According to the specifications of the motorsand the size of the connecting rods and the density of connecting rods’s material, thetotal weight of the manipulator was estimated, to verify whether meet the requirementsof the manipulator.
(3) The connecting rod coordinate system of manipulator was established byuseing D-H method, coordinate systems were transformed by the homogeneous matrix,the final homogeneous transformation matrix of the terminal actuating mechanismwere worked out, each joint’s variables was replaced by the manipulator’s initial value,the correctness of the transformation matrix was verified. According to thecharacteristics of linear distribution of the suspension insulator, the method ofdecomposing coordinate in the right Angle coordinate system was tryed to replace theInverse kinematics method which has Multiple solutions, then the operation wassimplified, the most rapid path planning algorithm was provided to control system.
(4) The control system according to the requirements of the accurate control ofthe manipulator was designed, DSP microprocessor was used for manipulator’s pathplanning and monitoring system, the much interface CAN bus was used for datatransmission, four SCM system which controled each joint respectively werecomposed by single-chip microcomputer and their peripheral circuit, the accuratelocation of the manipulator was realized.
The results showed that the mechanical design meet the demands, there weresome problems need to be studied further.
引文
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郭文军,张云军.2010.输电线路污闪原因及防污闪措施分析.内蒙古石油化工,(19)：40~41
侯文琦.2009.输电线路除冰机器人本体设计与越障动力学分析.[硕士学位论文].长沙:国防科学技术大学,
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吴功平,肖晓晖,肖华等.2006.架空高压输电线路巡线机器人样机研制.电力系统自动化,30(13):90~94
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徐美艳.2009.浅谈污闪的形成、危害及预防.中国科技博览,(26):336~337
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阎昌琪,李洪喜.1994.核电站用机器人技术的发展.核动力工程,15(01):29～33.
张志东等.1993.环绕式绝缘子带电清扫器.中华人民共和国实用新型专利,93215707.6.
周风余,李贻斌,吴爱国.2006.高压巡检机器人的设计与实现.机械科学与技术,(5)：623～626
周风余,吴爱国,李贻斌等.2004.高压架空输电线路自动巡检机器人的研制.电力系统自动化,(23):89～91
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Greg Paula.1989.Robotics:growing maintenance option for utilities. Electrical World,203(5):65~72．
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陈健生等.1988.气控绝缘子带电清扫及监测机具.中华人民共和国实用新型专利,88215438.9，.
陈历仁.1990.机器人在核工业中的应用.机器人情报,(6):1~6.
丁智平.1999.气液动剪叉式升降平台运动受力分析及其应用.株洲工学院学报,13(6)：49~52
樊绍胜,刘社开,王旭红.2007-04-11.冷凝器铜管二关节式在线清洗机器人.中国专利，200610032360.5.
郭永耀等.2006. ADAMS/View在剪叉式液压升降平台参数确定上的应用.现代制造技术与装备,(6):38~40.
郭文军,张云军.2010.输电线路污闪原因及防污闪措施分析.内蒙古石油化工,(19)：40~41
侯文琦.2009.输电线路除冰机器人本体设计与越障动力学分析.[硕士学位论文].长沙:国防科学技术大学,
姜魁明.1990.等电位射流带电清扫器.中华人民共和国实用新型专利,90107384.9
李建勇.2004.机电一体化技术.北京:科学出版社
鲁守银,钱庆林,涨斌,等.2006.变电站设备巡检机器人的研制.电力系统自动化,30(13):94～98．
乔东明等.2009.简明实用电工手册.北京:机械工业出版社
王耀南,张辉,张志国等.2007-3-7.大型冷凝设备水下智能清洗机器人.中国专利，200610032290.3.
吴功平,肖晓晖,郭应龙等.2006.架空高压输电线自动爬行机器人的研制.中国机械工程,(3):237~240·
吴功平,肖晓晖,肖华等.2006.架空高压输电线路巡线机器人样机研制.电力系统自动化,30(13):90~94
徐承申.1988.悬式绝缘子带电清扫器.中华人民共和国实用新型专利,88203154.
徐美艳.2009.浅谈污闪的形成、危害及预防.中国科技博览,(26):336~337
徐文澄.1994.超高压带电自动清扫机.中华人民共和国实用新型专利,94209378.X.
徐文澄.1991.气动风轮超高压带电清扫装置.中华人民共和国实用新型专利,91102314.3.
徐文澄等.1998.叉车装配超高压带电自动清扫机具.中华人民共和国实用新型专利,98245149.0.
阎昌琪,李洪喜.1994.核电站用机器人技术的发展.核动力工程,15(01):29～33.
张志东等.1993.环绕式绝缘子带电清扫器.中华人民共和国实用新型专利,93215707.6.
周风余,李贻斌,吴爱国.2006.高压巡检机器人的设计与实现.机械科学与技术,(5)：623～626
周风余,吴爱国,李贻斌等.2004.高压架空输电线路自动巡检机器人的研制.电力系统自动化,(23):89～91
Abouaf J.1998.Trial by fire teleoperated robot targets Chernobyl.Computer Graphics andApplications,18(4):10~14
Cox D J.2002.Mock-up of hazard ous material handling tasks using a dual-arm robotic system.Proceedings of the5th Biannual World Automation Congress,(6):527~532
F Y Zhou，J D Wang, Y B Li, J Wang,H R Xiao.August28-3l,2005. Control of an Inspection Robotfor110KV Power Transmission Lines Based on Expert System Design Methods．Proceedings ofthe2005IEEE Conference on Control Applications Toronto, Canada,1563~1568．
Fengyu Zhou,Hairong Xiao,Yibin Li,Aiguo Wu.June21-23,2006. Control Strategy andImplementation of an Inspection Robot for110kV Power Transmission Lines，Proceedings of the6th World Congress on Control and Automation, Dalian,China,9052～9056．
Gmytrasiewicz P, Durfee E, Wehe D.1999. Combining decision theory and hierarchical planning for atime-depent robotic application.Proceedings of Seventh IEEE Conference on Artificial IntelligenceApplications,(2):282～288
Greg Paula.1989.Robotics:growing maintenance option for utilities. Electrical World,203(5):65~72．
Hu Y, Cheng J S.1993. The research of the automatic washing-brushing robot of500kV DC insulatorstring. Proceedings of the6th International Conference on Transmission&DistributionConstruction&Live-line Maintenance. Las Vegas: IEEE,411~424.
J.Sawada,K.Kusumoto,T.Munakata.1991. A mobile robot for inspection of power transmissionlines.IEEE Transactions on Power Delivery,6(1):309~315．
Kita N.2000. Visual attention control for nuclear power plant inspection. Proceeding of the15thInternational Conference on Pattern Recognition,(9):118～123
Kobayashi H,Nakamura H,Shimada T.1991. An inspection robot for feeder cables-basic structure andcontrol.Proceedings of IECON’91,1991International Conference on Industrial Electronics，Controland Instrumentation. Kobe Japan,992～995．
Laghari J，Hammoud A.1990.Effect of nuclear radiation on the electrical properties of chemical doublelayer capacitors．IEEE Transactions on Nuclear Science，37(2):1072～1075
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