Abstract
In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.
Highlights
With the increasing demand for energy, it is estimated that the annual global power generation will exceed 38, 000 TWH by 2040
In order to meet this demand, long-distance largecapacity transmission technology is important [1,2,3,4]. e stability and reliability of converter transformer is the key to the smooth progress of high voltage transmission, and the failure of ultrahigh voltage (UHV) converter transformer valve-side bushing is one of the main reasons affecting the stability and reliability of converter transformer [5,6,7]. erefore, when the bushing fails, it should be replaced in time
In this paper, based on the kinematics model established by spinor theory, the forward kinematics equation is derived using product of exponentials (POE) formula. e error model is established according to the kinematics model, and the least square method is used to identify the parameters of the repeated error model
Summary
With the increasing demand for energy, it is estimated that the annual global power generation will exceed 38, 000 TWH by 2040. Is puts forward the requirements for calibrating the robot arm for intelligent replacement of the side bushing of the UHV converter valve and improving its absolute positioning accuracy and repeated positioning accuracy. In reference [41], genetic algorithm is used to identify the kinematic error model of parallel mechanism, and the experimental results show that the calibration accuracy is greatly improved. Compared with the former two algorithms, the process of genetic algorithm is complex, and the accuracy guarantee is not higher than the former two methods, so the utilization rate of genetic algorithm in the parameter identification of manipulator error model is not high. In this paper, based on the kinematics model established by spinor theory, the forward kinematics equation is derived using POE formula. e error model is established according to the kinematics model, and the least square method is used to identify the parameters of the repeated error model
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