Dynamic walking characteristics and control of four-wheel mobile robot on ultra-high voltage multi-split transmission line

2021 ◽  
pp. 014233122110430
Author(s):  
Jiang Wei ◽  
Zou De hua ◽  
Ma Shuangbao ◽  
Ye Gaocheng ◽  
Chen Wei
Keyword(s):  
Mobile Robots ◽  
Transmission Line ◽  
High Voltage ◽  
Transmission Lines ◽  
Power Transmission ◽  
Application Range ◽  
Field Environment ◽  
Line Spacing ◽  
And Control ◽  
Ultra High Voltage

High-voltage lines are an important channel for power transmission, and multi-split transmission lines are the main strength of power transmission. Compared with double-wheel single-wire maintenance robots, ultra-high-voltage multi-split transmission lines and four-wheel mobile robots have a wider application range and greater demand. The maintenance of multi-split transmission lines relies on the stable walking and control of four-wheel mobile robots on heterogeneous multi-split transmission lines. However, uncertain disturbance factors such as wind load in the complex field environment cause vibration of double-split and quad-split lines. The slight change in the line spacing causes the line contact to the edge of the robot’s walking wheel, which increases the friction during the robot’s walking. It also directly hinder the movement of the robot on the multi-split transmission line, thus restricting the completion of the robot’s maintenance operation. Based on the analysis, this paper establishes a mathematical model of the external force disturbance influence on the spacing of the double-split lines. At the same time, the robot walking mechanics characteristics model under the change of the line space has been established. Three different forms of the robot walking online have been obtained through abstraction processing. A method of side friction identification based on fuzzy control has been proposed, through the online monitoring of the friction between line and edge of the walking wheel, the robot walking wheel motor walking force can be intelligently controlled in real time, and effectively avoids the “wheel-line” jam phenomenon under the external uncertain factors in the field environment. Finally, the feasibility and engineering practicability of the method have been verified through MATLAB/ADAMS simulation and field operation experiments. Therefore, the automation and intelligence level of the operation and the transmission system maintenance management has been improved.

scholarly journals INFLUENCE ESTIMATION OF ASYMMETRY EXTRA HIGH VOLTAGE TRANSMISSION LINE ON DETERMINATION OF COMPENSATING REACTOR PARAMETERS

2020 ◽  
Vol 2020 (57) ◽  
pp. 15-25
Author(s):  
Vladislav Kuchanskyy ◽  
◽  
Denys Malakhatka ◽  
Keyword(s):  
Transmission Line ◽  
High Voltage ◽  
Transmission Lines ◽  
Single Phase ◽  
Power Transmission ◽  
Power Transmission Lines ◽  
High Voltage Transmission Line ◽  
Longitudinal Asymmetry ◽  
High Voltage Transmission ◽  
Extra High Voltage

The article shows the urgency of the problem of studying resonant processes in extra high voltage power lines. The research of processes in extra high voltage power transmission lines is carried out to develop and implement measures to prevent overvoltages. Resonant overvoltages arising because of open phase modes of operation of the extra high voltage transmission line are considered. The paper shows the influence of the levels of longitudinal asymmetry on the calculation of the resistances of compensating reactors to reduce the values of overvoltages in the pause of single-phase automatic reclose. The degree of influence of the wire transposition scheme on the choice of the resistance of the compensation reactor and on the values of resonant overvoltages in the cycle of single-phase automatic reclose is considered. Estimation of asymmetry coefficients for different transposition schemes is performed. To select the resistance of the compensation reactor, the data of the existing high-voltage transmission lines of 750 kV were taken. Recommendations for the implementation of measures to prevent and limit resonant overvoltages are given. The current theoretical and practical problems of operation of the extra high voltage power line are considered and the ways of further research are shown. References 14, figures 5, tables 2.

scholarly journals Optimal Determination Method of the Transposition Steps of an Extra-High Voltage Power Transmission Line

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6791
Author(s):  
Alaa Khasawneh ◽  
Mohamed Qawaqzeh ◽  
Vladislav Kuchanskyy ◽  
Olena Rubanenko ◽  
Oleksandr Miroshnyk ◽  
...  
Keyword(s):  
Transmission Line ◽  
Phase Difference ◽  
High Voltage ◽  
Transmission Lines ◽  
Power Transmission ◽  
Electrical Network ◽  
Power Transmission Line ◽  
Determination Method ◽  
Capital Costs ◽  
Extra High Voltage

During the design of extra-high-voltage transmission lines, studies of the influence of asymmetry due to the phase difference of the parameters on its processes and the electrical network were performed. To compensate for this source of asymmetry for transmission lines longer than 100 km, a relatively simple technical means was proposed and implemented—phase transposition (change of the mutual location of phase wires in space). However, at the same time transposition causes additional capital costs in construction and reduces reliability during operation, so when designing a specific transmission line, extra-high-voltage is desirable to evaluate the effectiveness of the use of this measure in the real electricity network. Thus, under certain conditions, even for a transmission line 600 km in length, it was possible to perform either an incomplete transposition cycle, or abandon this measure altogether.

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