摘要
随着电力系统自动化与智能化水平的不断提升,绝缘子清扫机器人的研发与应用逐渐成为电力行业的研究热点。系统综述几种常见的绝缘子清扫机器人类型,包括水洗式、刷洗式和干冰式等,分别从结构设计、作业方式及环境适应性等方面分析各类系统的发展现状与技术特征,并结合典型应用场景进行归纳总结。在此基础上,重点探讨清扫机器人运动控制技术的研究进展,深入比较PID控制、模糊PID控制、神经网络控制以及视觉伺服控制等典型方法在实际任务中的应用特性、控制精度与鲁棒性表现。通过对不同控制策略的优劣势分析,为绝缘子清扫机器人的优化设计与智能化升级提供理论依据与实践参考。
With the continuous advancement of automation and intellectualization of the power systems,the research and application of insulator cleaning robots become a prominent focus in the power industry.This paper provides a comprehensive review of several common types of insulator cleaning robots,including water-washing,brushing,and dry-ice cleaning systems.It analyzes the development status and technical characteristics of various systems in terms of structure design,operating types,environmental adaptation,and so on,along with a summary of typical application scenarios.On this basis,the paper further investigates recent progress in motion control technologies,offering an in-depth comparisons of several representative methods,such as PID control,fuzzy PID control,neural network control,and visual servo control in terms of their application features,control accuracy,and robustness in cleaning tasks.By examining the advantages and limitations of various control strategies,this review provides theoretical insights and practical guidance for the optimized design and intelligent development of insulator cleaning robots.
作者
陈强
秦际明
谭威龙
CHEN Qiang;QIN Jiming;TAN Weilong(Baise Bureau of Ultra High Voltage Transmission Company of China Southern Power Grid Co.,Ltd.,Baise,Guangxi 533000,China)
出处
《广东电力》
北大核心
2025年第11期54-66,共13页
Guangdong Electric Power
基金
中国南方电网有限责任公司超高压输电公司科技项目(CGYKJXM20230142)。
