风载下高压直流巡检机器人磁力矩平衡方法

Magnetic Torque Balance Method for HVDC Inspection Robot under Wind Load

针对高压直流巡检机器人在高空作业过程中易受风载影响,导致机身稳定性差和作业安全性低的难题,提出了一种基于高压直流磁场的磁力矩平衡方法:利用载流线圈在高压直流磁场中产生的安培力力矩与风载荷力矩的抵消实现动态平衡。根据机器人结构和高压直流输电线路周围的磁场特性,建立了磁力矩装置的物理模型,对磁力矩进行了理论计算并分析了风载下机器人所受风力及其影响;基于ANSYS Workbench平台,在风场环境下对机器人所受风力矩进行仿真计算;利用COMSOL软件对磁力矩模型进行仿真分析。通过对两次仿真结果及理论计算值的比较分析,表明模型在设定参数下能产生符合要求的磁力矩。

Faced with the problem that the magnetic drive inspection robot is susceptible to wind load during high-altitude operation,resulting in poor stability of the fuselage and low safety of operation,a magnetic torque balance method based on HVDC magnetic field is proposed.The dynamic balance was achieved through the counteraction of ampere torque and wind load torque produced by current-carrying coil in HVDC magnetic field.A physical model for the magnetic torque was established.According to structure of the robot and the characteristics of the magnetic field around the HVDC transmission line,the magnetic torque was calculated theoretically and the wind force and its influence on the robot under wind load were analyzed.Based on ANSYS Workbench platform,the wind torque of the robot was simulated in the wind environment,the magnetic torque model was simulated using the COMSOL.By comparing the two simulation results and the theoretical calculation values,it shows that the model is in the system parameters and can produce a balanced torque that meets the requirements.