SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on Motion Control of Oil-immersed Transformer Internal Detection Robot
Thesis Advisor李智刚
Keyword变压器内部故障检测 球形机器人 水下机器人 运动控制 鲁棒反演滑模控制
Degree Discipline控制理论与控制工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractFault diagnosis of oil-immersed power transformer is one of the most complicated problems in power network equipment. Its internal structure is very complex, and there are many parts prone to be fault easily. The fault mechanism, fault process and fault phenomena are complex, and it is very difficult to determine the specific fault location to maintain. At present, the fault diagnosis of oil-immersed transformer mainly relies on the maintenance staff entry into the transformer to confirm the specific fault location, which has many problems such as high risk to the staff’s health, complicated working process and easy to bring pollution into the oil-immersed power transformer. In view of this problem, a spherical robot that can successfully enter the oil-immersed transformer for fault detection is proposed. The internal fault data of the transformer is obtained through the camera and sensor equipped in the robot, which can effectively replace the manual detection and greatly reduce the cost and risk of fault detection. This paper has carried out relevant research on the motion control of oil-immersed transformer internal detection robot, mainly including four parts: Firstly, the design of control system of oil-immersed transformer internal detection robot is introduced, including bottom hardware design and bottom software design of control system, the robot provides a platform support for the research of robot motion control. Secondly, the relationship between the thrust and supply voltage of the robot jet pump in the transformer oil is analyzed, and the prediction model of the robot jet pump thrust is built. Thirdly, the dynamic model of robot in transformer oil special medium and the robot simulation platform is established. Lastly, a robust backstepping sliding mode control method is proposed based on the robust backstepping control method and the adaptive sliding mode control theory. Meanwhile a fuzzy controller is used to design the sliding mode surface switching gain to reduce the adjust speed and the chattering caused by uncertain disturbances, and the stability of the control system is analyzed based on Lyapunov theory. Consequently, the spin and chattering problem of the robot caused by coupling and external disturbance during the depth hover in transformer oil is solved. Finally, simulation and experiment results was demonstrated to show the effectiveness of the proposed controller.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
赵小虎. 油浸式变压器内部检测机器人运动控制研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2019.
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油浸式变压器内部检测机器人运动控制研究.(2896KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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