可变重心线路巡检机器人摆振分析及抑制

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (2) : 323-333.

论文

可变重心线路巡检机器人摆振分析及抑制

樊星，李小彭，彭健文，刘炳斐

作者信息 +

Pendulum vibration analysis and suppression of a power transmission line inspection robot with variable center of gravity

FAN Xing， LI Xiaopeng， PENG Jianwen， LIU Bingfei

Author information +

文章历史 +

摘要

针对野外输电线环境中巡检机器人(power transmission line inspection robot,PTLIR)受自然风影响出现的机身摆动问题，本文提出一种在机器人的可变重心箱体中加装摆式动力吸振器(dynamic vibration absorber ,DVA)的摆振抑制策略。首先描述了输电线系统与巡检机器人加装摆式动力吸振器的结构特点。基于Davenport风速谱与输电线系统的特点建立了风扰动模型。分析了机器人行走对输电线的影响，建立了简化后风扰动影响下机器人摆动的动力学模型，仿真了抑振前机器人在风扰动影响下的风振响应；基于拉格朗日方程建立了加装动力吸振器优化后的巡检机器人动力学模型，并完成了吸振器的参数设计。通过仿真不同风速下机器人的风振响应，验证所提出的振动抑制策略的有效性。最后，基于改进结构下的巡检机器人样机，开展了室内风扰动实验。结果表明：所提出的吸振器抑振策略可在一定程度上抑制机器人的机身摆动，提高工作稳定性。本文的研究过程对其他摆式结构设备的振动抑制具有一定的参考价值。

Abstract

Aiming at the pendulum vibration problem of power transmission line inspection robots (PTLIRs) in the field transmission line environment under the influence of natural wind, this paper proposes a pendulum vibration suppression strategy by installing a pendulum dynamic vibration absorber (DVA) in the variable center of gravity box of PTLIR. Firstly, the structural characteristics of the power transmission line system (PTL) and the PTLIR equipped with pendulum DVA are described. The wind disturbance model is established based on the Davenport wind velocity spectrum and the power transmission line system characteristics. The influence of the robot walking on the transmission line is analyzed, the simplified dynamic model of the robot swing under the influence of wind disturbance is established, and the response of the robot under the influence of wind disturbance before vibration suppression is given. Furthermore, based on the Lagrange equation, the dynamic model of the PTLIR with DVA is established, and the parameters of the DVA are designed. The effectiveness of the proposed vibration suppression strategy is verified by simulating the wind vibration response of the robot under different wind speeds. Finally, based on the prototype of the PTLIR with the improved structure, the indoor wind disturbance experiment is carried out. The results show that: the proposed vibration suppression strategy of DVA would be useful for restraining the robot's fuselage swing and improving the working stability. The research process of this paper is meaningful for the stability optimization of other pendulum structure equipment.

导出引用

樊星，李小彭，彭健文，刘炳斐. 可变重心线路巡检机器人摆振分析及抑制[J]. 振动与冲击, 2024, 43(2): 323-333

FAN Xing， LI Xiaopeng， PENG Jianwen， LIU Bingfei. Pendulum vibration analysis and suppression of a power transmission line inspection robot with variable center of gravity[J]. Journal of Vibration and Shock, 2024, 43(2): 323-333

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