摘要
针对油浸式变压器内部人工检测方式,存在安全隐患、经济性差和效率低的缺点,设计一种结构紧凑小巧、高机动性的变压器内部检测机器人。设计了机器人的控制系统,完成硬件设计与软件程序开发,研究基于控制输入抗饱和特性的滑模控制的算法,并进行仿真与对比分析。研制了原理样机,并进行水池试验,验证了控制系统的可行性与算法的合理性。
In order to solve the problems of hidden danger,poor economy and low efficiency in the manual detection method of oil immersed transformer,this paper designs a compact and high mobility internal inspection robot for transformer.The control system of the robot is designed,and the hardware design and software program development are completed.The sliding mode control algorithm based on the anti saturation characteristic of control input is studied,and the simulation and comparative analysis are carried out.The principle prototype is developed.The feasibility of the control system and the rationality of the algorithm are verified by the pool test.
作者
郭玉嘉
杜向党
陈宏博
汪旭海
靳宪文
GUO Yujia;DU Xiangdang;CHEN Hongbo;WANG Xuhai;JIN Xianwen(Northwest Polytechnic University, Xi’an 710072,China;Shandong Power Equipment Co., Ltd.,Jinan 250024,China)
出处
《机械与电子》
2020年第12期70-75,共6页
Machinery & Electronics
关键词
油浸式变压器
机器人
控制系统
算法研究
oil immersed transformer
robot
control system
algorithm research
