Abstract
GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks.
Highlights
GIS is important equipment in the substation system in a complex microgrid network
Due to the longterm service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. erefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. e traditional method relies on manual labor, where with the low operation efficiency and regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation
Complexity order to achieve GIS equipment maintenance without blind spots, the GIS inspection robots should be able to climb along the inside of GIS equipment pipelines. erefore, the robot climbing ability is the key to GIS equipment maintenance operations
Summary
2.1. e Overall Design of the GIS Inspection Robot System. When GIS inspection robot replaces manual GIS equipment inspection operation, there are three requirements, which are the stable wall adsorption ability, flexible mobility on three-dimensional walls, and adaptive ability to different wall surfaces. In order to meet the three above requirements, this paper designs a wheel mobile robot that can achieve alldirectional climbing inside GIS equipment as shown, where Figure 1(a) is the robot physical prototype operation environment, Figure 1(b) is robot three-dimensional structure, and Figures 1(c)–1(f ) are the motion planning of robot inspection operations. E GIS climbing robot designed in this paper needs to move on the wall and carry manipulator equipment to complete the inspection and maintenance work; considering that the tracking scheme is slow and not flexible enough, the control is difficult, and the adsorption method is relatively single, so all-directional wheat wheel can be selected in the mobile scheme, which has both speed and flexibility, and the control difficulty is relatively low. Motion control needs to consider the influence of error as external information to participate in the closed-loop control of robot motion
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