Research on up and down line control method of 500kV live working robot

Abstract

It is a developing trend for transmission line operation robots to replace manual operations in line operation and maintenance. However, the existing on-line methods of robots are complex and inefficient, which seriously affects the progress of the entire operation and maintenance. In order to solve this problem, this paper studies the automatic on-line and off-line control method of live working robot for 500kV transmission lines. Firstly, the on-line and off-line structure of the robot and its operating mechanism are analyzed, and on this basis, the relevant mathematical model is established. Through the analysis of the model, cascade fuzzy PID is used to control the robot’s attitude leveling. Finally, through MATLAB software simulation, the cascade fuzzy PID control effect is the best.

Keywords

• 500kv transmission line
• robot up and down line
• leveling control
• fuzzy pid