Dynamic model based energy consumption optimal motion planning for high-voltage transmission line mobile robot manipulator

摘要

Power transmission line live working robots are important equipment and useful exploration to ensure the reliable operation of high-voltage lines and they are the development trend to realizing intelligent automation power system operation and maintenance management. At present, most robots adapt lithium battery power supply and can be hoisted on line. The robot online endurance operation time is closely related to the system energy consumption. When the robot electricity of battery is insufficient, it needs to be charged offline. In order to reduce the frequency of robot hoisted on and off line as much as possible and improve the robot battery life time after it has been online, this has become a key technology which needs to be solved urgently. It is of great theoretical significance and practical application value to promote the robot overall operation efficiency. Based on the above, this paper establishes double different types manipulator energy consumption models for high-voltage transmission line damper replacement operation and drainage plate maintenance operation, through analysis and synthesis, a general energy consumption model for different tasks have been abstracted and an objective function for optimizing the robot manipulator motion energy consumption have been constructed based on the robot dynamics, thereby, GA(genetic algorithm) has been adapted, through selecting appropriate algorithm parameters, the optimal manipulator energy consumption has been solved and then it can be substituted back to the manipulator energy consumption model so as to obtain the optimal joint energy consumption motion function, based on the optimal energy consumption results, the optimal robot energy consumption motion planning has been carried out, according to the MATLAB simulation results, the energy consumption of the optimized trajectory is significantly lower than before, which can effectively reduce the frequency the robot hoisted online and offline, so as to improve the robot operation overall efficiency, at the same time, the optimal energy consumption trajectory planning method has strong versatility for different operation tasks. Finally, based on the optimal energy consumption trajectory planning, the robot drainage board tightening and damper replacement operation experiments on 220 kV power lines which verified the effectiveness and engineering practicability of the proposed method.