水敷法电缆敷设机器人能耗最优化研究

Study on Energy Optimization of Robot Installing Underground Cables with Water

通过对敷设过程中电缆不同状态的力学分析,以及对所有影响能耗的要素进行深入分析,给出了一种基于Matlab的能耗最优化算法,计算出了敷设速度,给出了实时水压的曲线图.试验结果表明,与传统策略相比,该策略实现了安全可靠的直管、长距离的电缆敷设,在施工中可以节约大量的电能.

A control arithmetic using Matlab which bases on Mechanical analysis of different states of the cable and deep analysis of all the power- consuming factors is put forward to embody the energy- saving strategy, and calculate the graph of installing speed and water pressure. The experimentation results show that the strategy can accomplish installing the straight cable safely in a long distance,and a good deal of electric energy is saved.