本文選題：變電站帶電水沖洗移動(dòng)機(jī)器人　切入點(diǎn)：機(jī)器人運(yùn)動(dòng)學(xué)　出處：《山東建筑大學(xué)》2015年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：隨著工業(yè)自動(dòng)化迅速發(fā)展,由環(huán)境問(wèn)題引發(fā)的綜合污染問(wèn)題日益加重,變電站內(nèi)負(fù)責(zé)線(xiàn)路絕緣問(wèn)題的絕緣子污穢問(wèn)題也越來(lái)越嚴(yán)重,輸變電設(shè)備的電瓷外絕緣的污閃事故發(fā)生機(jī)率也因此不斷增加,污閃事故會(huì)導(dǎo)致大面積跳閘停電,造成系統(tǒng)瓦解和設(shè)備的損壞,給電網(wǎng)的運(yùn)行安全帶來(lái)了極大地隱患,嚴(yán)重影響供電可靠性。因社會(huì)發(fā)展的需要電力供應(yīng)緊張,電力設(shè)備超負(fù)荷工作,加上部分絕緣子清掃困難,常規(guī)的大面積停電清掃操作復(fù)雜易出錯(cuò),且會(huì)給社會(huì)造成了巨大經(jīng)濟(jì)損失,已不符合發(fā)展需要。為了提高變電站設(shè)備抗污閃能力,構(gòu)建安全高效電網(wǎng),更好地保障社會(huì)發(fā)展,必須加快帶電水沖洗作業(yè)的研究與應(yīng)用。本文以國(guó)家863計(jì)劃資助下所設(shè)計(jì)的變電站帶電水沖洗移動(dòng)機(jī)器人為實(shí)驗(yàn)平臺(tái),研究設(shè)計(jì)了變電站帶電水沖洗移動(dòng)機(jī)器人的控制系統(tǒng)。該控制系統(tǒng)采用遠(yuǎn)程遙控設(shè)備借助工控機(jī)利用按鍵和搖桿實(shí)現(xiàn)遠(yuǎn)程操作機(jī)器人,使操作人員在遠(yuǎn)離危險(xiǎn)的作業(yè)環(huán)境,其采用的工控機(jī)+觸摸屏+運(yùn)動(dòng)控制器的控制方式簡(jiǎn)化了機(jī)器人的運(yùn)動(dòng)控制過(guò)程,提高了控制精度[3]。變電站帶電水沖洗移動(dòng)機(jī)器人不僅減少了勞動(dòng)力,提高了作業(yè)人員的安全,而且提高了供電系統(tǒng)的經(jīng)濟(jì)效益和社會(huì)效益,極大地提高了帶電水沖洗的自動(dòng)化水平,符合社會(huì)發(fā)展的需要。論文主要進(jìn)行了以下工作：首先介紹了變電站帶電水沖洗移動(dòng)機(jī)器人的整體結(jié)構(gòu),該機(jī)器人系統(tǒng)主要由履帶式車(chē)體移動(dòng)機(jī)構(gòu)、升降作業(yè)平臺(tái)、水沖洗子系統(tǒng)等組成,并對(duì)該機(jī)器人的組成進(jìn)行了簡(jiǎn)單的分析介紹,為后面章節(jié)的介紹做準(zhǔn)備。其次針對(duì)變電站帶電水沖洗移動(dòng)機(jī)器人的基本結(jié)構(gòu)特征,對(duì)機(jī)器人的運(yùn)動(dòng)控制做了簡(jiǎn)單介紹,結(jié)合機(jī)器人的運(yùn)動(dòng)控制要求,對(duì)機(jī)械臂的運(yùn)動(dòng)學(xué)正逆解和移動(dòng)車(chē)體的運(yùn)動(dòng)軌跡進(jìn)行了分析。對(duì)運(yùn)動(dòng)學(xué)進(jìn)行分析時(shí),建立了機(jī)械臂的運(yùn)動(dòng)學(xué)模型,采用三角函數(shù)迭加方式代替D-H建模方式對(duì)機(jī)器人的正運(yùn)動(dòng)學(xué)分析,采用D-H建模+代數(shù)法的方式對(duì)機(jī)器人的逆運(yùn)動(dòng)學(xué)分析,由MATLAB對(duì)其進(jìn)行仿真驗(yàn)證,為變電站帶電水沖洗移動(dòng)機(jī)器人控制系統(tǒng)的設(shè)計(jì)和實(shí)現(xiàn)提供了理論基礎(chǔ)。然后根據(jù)帶電水沖洗作業(yè)的需要,對(duì)水沖洗系統(tǒng)中的純水制備和噴水壓力系統(tǒng)進(jìn)行了簡(jiǎn)單介紹,同時(shí)結(jié)合噴水壓力系統(tǒng)對(duì)機(jī)器人的絕緣安全防護(hù)監(jiān)控系統(tǒng)進(jìn)行了分析介紹,為帶電水沖洗作業(yè)的絕緣防護(hù)提供保障。最后主要闡述了變電站帶電水沖洗移動(dòng)機(jī)器人控制系統(tǒng)的組成、控制方式和系統(tǒng)的上位機(jī)實(shí)現(xiàn),并結(jié)合控制系統(tǒng)的組成對(duì)基于工控機(jī)+觸摸屏+運(yùn)動(dòng)控制器的開(kāi)放式控制方式進(jìn)行了詳細(xì)介紹。
[Abstract]:With the rapid development of industrial automation, the problem of comprehensive pollution caused by environmental problems is becoming more and more serious, and the pollution problem of insulators responsible for line insulation in substations is becoming more and more serious. As a result, the probability of pollution flashover of external porcelain insulation of power transmission and transformation equipment also increases continuously. The pollution flashover accident will lead to a large area of tripping power outages, resulting in system collapse and equipment damage, which will bring great hidden danger to the operation safety of power grid. The reliability of power supply is seriously affected. Due to the need of social development, the power supply is tight, the power equipment is overloaded and some insulator cleaning is difficult, and the operation of conventional large-area blackout cleaning is complex and error-prone. In order to improve the anti-pollution and flicker capacity of substation equipment, to build a safe and efficient power grid, and to better ensure social development, it will cause huge economic losses to the society and will no longer meet the needs of development. It is necessary to speed up the research and application of live water washing. In this paper, the mobile robot for live water washing in substations, which is funded by the National 863 Program, is used as the experimental platform. The control system of mobile robot with live water washing in substation is studied and designed. This control system uses remote remote control equipment to realize remote operation of robot by using key and rocker with the help of industrial control computer, so that the operator is far from dangerous working environment. The control mode of the touch screen motion controller of the industrial control computer simplifies the motion control process of the robot and improves the control accuracy [3]. The mobile robot with live water washing in the substation not only reduces the labor force, but also improves the safety of the operators. Moreover, the economic and social benefits of the power supply system have been improved, and the automation level of electrified water washing has been greatly improved. The main work of this paper is as follows: firstly, the whole structure of the mobile robot with live water washing in substation is introduced. The robot system is mainly composed of crawler body moving mechanism, lifting and lifting platform. The composition of the robot is simply analyzed and introduced in order to prepare for the introduction of the following chapters. Secondly, the basic structural characteristics of the substation live water washing mobile robot are discussed. This paper briefly introduces the motion control of the robot, and analyzes the kinematics inverse solution of the robot arm and the motion track of the moving car body according to the motion control requirements of the robot. The kinematics model of manipulator is established. The forward kinematics of robot is analyzed by trigonometric function superposition instead of D-H modeling. The inverse kinematics of robot is analyzed by D-H modeling algebraic method, which is verified by MATLAB simulation. This paper provides a theoretical basis for the design and implementation of the mobile robot control system for live water washing in substations. Then, according to the needs of live water washing, the preparation of pure water and the water spray pressure system in the water washing system are briefly introduced. At the same time, combined with the water spray pressure system, the monitoring and control system for the insulation safety protection of the robot is analyzed and introduced. Finally, the composition, control mode and the realization of the upper computer of the control system of the mobile robot for live water washing in substations are mainly described. Combined with the composition of the control system, the open control mode based on the touch screen motion controller of industrial control computer is introduced in detail.
【學(xué)位授予單位】：山東建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TM63;TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 歐慶然;;變電站高層設(shè)備帶電水沖洗危險(xiǎn)點(diǎn)分析與預(yù)控[J];電力安全技術(shù);2008年05期

2 王慶昌;;淺談帶電水沖洗在新疆電力系統(tǒng)的應(yīng)用技術(shù)及故障分析[J];大眾科技;2010年11期

3 崔尚印;變電設(shè)備帶電水沖洗技術(shù)及故障分析[J];河北電力技術(shù);2002年01期

4 姚河清,王運(yùn)東;熔化焊機(jī)器人焊接專(zhuān)家系統(tǒng)[J];機(jī)器人;2002年05期

5 文懷興;雷曉麗;;采用Trio運(yùn)動(dòng)控制器的搬運(yùn)機(jī)器人控制系統(tǒng)研究[J];現(xiàn)代制造工程;2011年04期

6 文懷興;雷曉麗;;四自由度繪圖機(jī)器人的控制系統(tǒng)設(shè)計(jì)[J];組合機(jī)床與自動(dòng)化加工技術(shù);2010年11期

7 馮長(zhǎng)喜;;基于配電網(wǎng)供電可靠性的問(wèn)題及處理分析[J];資源節(jié)約與環(huán)保;2013年09期

相關(guān)碩士學(xué)位論文 前3條

1 房光輝;高壓帶電清掃機(jī)器人移動(dòng)載體的研究[D];上海交通大學(xué);2008年

2 孔祚;超高壓帶電清掃機(jī)器人控制系統(tǒng)設(shè)計(jì)與研究[D];上海交通大學(xué);2008年

3 俞明強(qiáng);光刻機(jī)超純水供液裝置的自動(dòng)控制系統(tǒng)研制[D];浙江大學(xué);2013年

，

本文編號(hào)：1589257