A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode

He, Zhihang; Wang, Wei; Ruan, Huaping; Yao, Yonggang; Li, Xuelong; Zou, Dehua; Yu, Yan; Jia, Shaochun

doi:10.1108/ir-10-2018-0212

Cited by 5 publications

(6 citation statements)

References 25 publications

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“…According to the idea of "uninterruptible maintenance," if the electrical power supply system malfunctions, it is an urgent issue for all power supply departments and continuously promotes the live operation of the distribution network [1][2][3][4]. One of the most frequent procedures used in both routine and urgent power grid maintenance is cable stripping [5]. Traditional manual procedures using knives have been used, but they have unavoidable drawbacks such as the potential for electrical shock and the ease with which the inner metal core can be damaged [6][7].…”

Section: Introductionmentioning

confidence: 99%

A novel 10 kV high-voltage cable stripping robot’s mechanism design and analysis

Zhong

Wang

et al. 2023

Robotica

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A 10 kV distribution network is critical for ensuring power supply to residents and factories. The number of power maintenance operations is rapidly increasing, and aerial cable stripping is a significant branch of these routine maintenances. High-voltage cable stripping, on the other hand, is mostly done manually, which is inefficient and poses serious security risks. As a result, this paper proposes an automatic wire stripping robot for use in a 10 kV power grid. The mechanical structure of the stripping robot is designed for installation on the insulating rod based on the working environment of 10 kV overhead cables. The robot was subjected to electromagnetic field simulation, modal analysis, and rigid-flexible coupling analysis. Finally, the robot prototype is built, and the PID controller is designed. Stripping tests are performed on a cable with a cross-sectional area of 95, 120, 150, 240, and 300 mm2, and the results are satisfactory.

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Section: Introductionmentioning

confidence: 99%

A novel 10 kV high-voltage cable stripping robot’s mechanism design and analysis

Zhong

Wang

et al. 2023

Robotica

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“…Inspection for faults of power grid components such as cables of the transmission and distribution system and insulators, as well as cleaning and de-icing of these components, is often carried out by humans [1][2][3][4][5][6][7]. These are dangerous tasks, taking place in harsh conditions and exposing the life of the maintenance personnel to the risk of fatal accidents.…”

Section: Introductionmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

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The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

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“…Although many high-voltage inspection robots were proposed, [9][10][11][12] they still faced many technical problems. Most of the high-voltage inspection robots with wheelarm structure have the problem of slip of walking wheels in the case of abnormal surface conditions (such as ice coating) or when the robot is running on a steep slope, the static friction is not enough to overcome gravity and slip.…”

Section: Introductionmentioning

confidence: 99%

“…Research of authors from Isfahan University of Technology 10 proposed a structural optimization method. Research of authors from Wuhan University 12 proposed a balance control method to avoid skids by balancing the load on the front and rear wheels. To solve this problem fundamentally, the slipping problem should be improved by changing the driving method of the inspection robot.…”

Section: Introductionmentioning

confidence: 99%

Magnetic linear driving method for high-voltage direct current inspection robot

Chen

Yang

et al. 2020

International Journal of Advanced Robotic Systems

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Faced with the problem of frequent slippage of the wheel-arm inspection robot in overhead high-voltage transmission lines, a magnetic linear drive method, based on high-voltage direct current (HVDC) magnetic field, is proposed: The ampere force of an enhanced HVDC magnetic field, generated by an innovatively arranged current-carrying coil, is used as the driving force for the traction robot, replacing the traditional wheel-arm driving method, thereby eliminating the slip. A physical model for the magnetic driving force is established, according to the characteristics of the magnetic field around the HVDC transmission line and the driving force requirements of the robot. The relationship between the magnetic driving force, the physical model size, and the number of coil windings is analyzed. The magnetic drive model is simulated using the COMSOL software version is 5.0. The simulation results of the magnetic drive force model are compared to theoretical calculations, proving the proposed method as correct. The magnetic drive device is constructed according to the proposed magnetic drive model and experiments are carried out. The results show that the magnetic drive device can provide enough traction to drive the robot motion, proving that the proposed magnetic linear drive method is technically feasible.

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A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode

Cited by 5 publications

References 25 publications

A novel 10 kV high-voltage cable stripping robot’s mechanism design and analysis

A novel 10 kV high-voltage cable stripping robot’s mechanism design and analysis

A nonlinear optimal control approach for underactuated power-line inspection robots

Magnetic linear driving method for high-voltage direct current inspection robot

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