摘要
支柱绝缘子是隔离开关和断路器等电气设备的组成部分,电力系统安全稳定运行与绝缘子安全运行息息相关.绝缘子清扫系统是由空压风系统、移动系统和清扫系统三个部分组成.对变电站支柱式绝缘子清扫系统进行了设计与研究,运用Matlab仿真软件对机械臂的运动轨迹进行仿真,判断其和实际工作轨迹逆解的完成是否满足条件.接着依据绝缘子清扫系统的设计指标要求,对连接小车与机械臂之间的圆形安装底座在ANSYS和Hypermesh软件下建模仿真,圆形安装底座所受到的应力可以达到相关技术指标.通过"工业机械臂编程与仿真工具",即用来编写机械臂具体动作的程序,实现坐标点获取、机器指令编程、程序文件上传和下载,各种加工程序上传到控制服务器后实现机械臂的指令编程.该运行方式突破了常规调试方法的弊端,在虚拟3D动画中可以及时发现,不会造成损失.最后通过波形测试可以得出伺服器会估算负载大小,并随时调整转矩去匹配负载.通过实时改变电流大小,来实现调整扭矩.
Pillar insulators are the components of electrical equipment such as isolating switches and circuit breakers.The safe and stable operation of power system is closely related to the safe operation of insulators.In this thesis,the design and research of substation pillar insulator cleaning system are carried out.The insulator cleaning system is composed of three parts:the air pressure system,the moving system and the cleaning system.Matlab is used to simulate the motion trajectory of the manipulator and the inverse solution of the actual working trajectory meets the requirements.Then,according to the design index requirements of the insulator cleaning system,the circular mounting base connecting the trolley and the mechanical arm is modeled and simulated under ANSYS and Hypermesh,and the stress on the circular mounting base could reach relevant technical indexes.The industrial manipulator programming and simulation tool is used to write the manipulator specific action of the program,achieve coordinate point acquisition,machine instruction programming,program file upload and download.A variety of processing procedures are uploaded to the control server to achieve the command arm programming.This operation mode breaks through the disadvantages of the conventional debugging method,and can be found in time in the virtual 3D animation without loss.Finally,through the waveform test,it can be concluded that the server will estimate the load size and adjust the torque to match the load.The server adjusts the torque by changing the current size in real time.
作者
陈宇
周腊吾
丁婧
翁小川
尹恒
邵敬平
史晓蓉
陈宇
CHEN Yu;ZHOU Lawu;DING Jing;WENG Xiaochuan;YIN Heng;SHAO Jingping;SHI Xiaorong;CHEN Yu(Hubei Huadian Xisaishan Power Generation Co.,Ltd.,Huangshi 435001 China;School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410000 China;Ezhou City Echeng District Power Supply Company,State Grid Hubei Electric Power Co.,Ltd.,Ezhou 436000 China;Hubei Huadian Wuchang Thermal Power Co.,Ltd.,Wuhan 435000 China;Qingtian County Power Supply Company,State Grid Zhejiang Electric Power Co.,Ltd.,Lishui 323900 China;APT Satellite Holdings Co.,Ltd.,Hong Kong 999077 China)
出处
《电气工程学报》
2020年第2期54-60,共7页
Journal of Electrical Engineering
基金
湖南省自然科学基金资助项目(2018JJ2434)。
关键词
绝缘子清扫系统
运动轨迹
应力分析
波形测试
Insulator cleaning system
trajectory of motion
stress analysis
waveform test
