Abstract
In order to avoid the motor damage caused by excessive temperature rise of armature winding of the walking motor during braking of high-voltage inspection robot in complexity microgrid networks, an unpowered downhill speed and energy recovery optimization control strategy is proposed based on temperature rise characteristics of the walking motor. Firstly, the thermal equivalent circuit model of the walking motor is established, and the mapping relationship between the armature winding temperature of the walking motor and ambient temperature is solved; secondly, the influence of armature winding temperature on unpowered downhill speed and energy recovery control strategy of robot is analyzed; thirdly, according to the temperature of front and rear wheel walking motors and the temperature difference between them, the optimal control strategy of unpowered downhill speed and energy recovery of robot is put forward; fourthly, by adjusting the duty ratio u of the energy consumption speed control system and the front wheel feedback brake distribution factor λ , the temperature difference between the front and rear wheel walking motors is reduced. Through the experimental analysis on the simulated line, it is verified that the unpowered downhill speed and energy recovery optimization control method based on the temperature rise characteristics of the walking motor can effectively reduce the temperature difference between the front and rear wheels.
Highlights
With the development of high-voltage inspection robot technology in complexity microgrid networks, most highvoltage transmission lines are typical catenary structures.e line between two adjacent towers is downhill first and uphill. e downhill section provides conditions for the robot to realize unpowered downhill speed control and energy recovery. e robot performs inspection tasks along the transmission line
It often happens that the inspection robot cannot finish the inspection task on time due to lack of power during the inspection. erefore, the unpowered downhill speed and energy recovery optimization control strategy based on the Complexity temperature rise characteristics of the walking motor is important and imminent
According to the temperature of front and rear wheel walking motors and the temperature difference between them, the optimal control strategy of unpowered downhill speed and energy recovery of the robot is put forward by adjusting the duty ratio of the energy consumption speed control system and the front wheel feedback brake distribution factor, and the temperature difference between the front and rear wheel walking motors is reduced. rough the experimental analysis on the simulated line, it is verified that the unpowered downhill speed and energy recovery optimization control method based on the temperature rise characteristics of the walking motor can effectively reduce the temperature difference between the front and rear wheels
Summary
With the development of high-voltage inspection robot technology in complexity microgrid networks, most highvoltage transmission lines are typical catenary structures. Erefore, the unpowered downhill speed and energy recovery optimization control strategy based on the Complexity temperature rise characteristics of the walking motor is important and imminent. Erefore, it is important to propose an optimal control method of unpowered downhill speed and energy recovery based on the temperature rise characteristics of the walking motor. E novelty of this paper lies in the fact that an optimal control method of unpowered downhill speed and energy recovery based on the temperature rise characteristics of the walking motor is proposed for the first time. Rough the experimental analysis on the simulated line, it is verified that the unpowered downhill speed and energy recovery optimization control method based on the temperature rise characteristics of the walking motor can effectively reduce the temperature difference between the front and rear wheels According to the temperature of front and rear wheel walking motors and the temperature difference between them, the optimal control strategy of unpowered downhill speed and energy recovery of the robot is put forward by adjusting the duty ratio of the energy consumption speed control system and the front wheel feedback brake distribution factor, and the temperature difference between the front and rear wheel walking motors is reduced. rough the experimental analysis on the simulated line, it is verified that the unpowered downhill speed and energy recovery optimization control method based on the temperature rise characteristics of the walking motor can effectively reduce the temperature difference between the front and rear wheels
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