除冰机器人磁力矩驱动除冰方法建模与仿真

Modeling and Simulation of Deicing Method of Magnetic Torque Driving for Deicing Robot

为除掉高压线路覆冰和针对电机驱动的除冰机器人体型笨重而导致增加高压线负荷和增大能耗损失的问题,首次提出一种取代电机驱动除冰装置的磁力矩驱动方法:利用载流线圈在高压直流磁场中受到的安培力力矩作为旋转驱动,驱动除冰装置实现除冰。通过分析高压直流输电线路周围的磁场特性和满足机器人磁力矩驱动要求建立了实现磁力矩驱动的物理模型,对磁力矩进行了理论计算并分析了磁力矩与物理模型参数之间的关系;利用软件对磁力矩驱动模型进行仿真,将磁力矩的仿真结果与理论计算值进行比较分析,结果表明,提出的磁力矩驱动物理模型正确有效。

To get rid of ice on high - voltage lines and the problems of ever - increasing load of the high - voltage lines and the energy loss because that the motor driven robot frame is too heavy, a new method of replacing the drive of motor is proposed for the first time. The ampere torque in the magnetic field produced by High - voltage Direct Current （HVDC） was used as the rotary drive, driving the deicing mechanism to remove ice. The physical model was established by analyzing the magnetic properties around the HVDC transmission lines and the demand for magnetic torque of the robot. Magnetic torque was theoretically calculated and the relationship was analyzed between it and the model parameters. After comparisons and analyses between the magnetic torque calculated theoretically and the simu- lation using software, the results turn out that the proposed method of drive system of magnetic torque is correct and efficient.