绝缘子智能水冲洗装置伺服驱动系统动态性能研究

Research on Dynamic Performance of Servo Drive System of Intelligent Water-Washing Device for Insulator

为了提升绝缘子水冲洗的准确率和作业效率、降低操作人员的劳动强度,根据冲洗系统组成原理,设计一套智能水冲洗装置。建立传动系统动力学模型以及伺服控制系统模型,对系统动态响应进行分析,找出影响其动态特性的主要因素。根据时变速度环增益的方法,优化伺服系统的比例积分微分(PID)控制方案。通过仿真得到系统优化后的振动特性曲线,对比发现,系统初始响应时间缩短了19.76%。最后通过搭建现场实验装置进行验证,系统初始响应速度提高了16.1%,最大振幅降低了8.6%,波动时间缩短了10.2%。结果表明:在绝缘子冲洗过程中,时变速度环增益的优化控制方案能够有效降低智能水冲洗装置的振动振幅,缩短系统的响应时间,提高系统的稳定性。

In order to improve the accuracy and efficiency of water-washing device for insulator,and reduce the labor intensity of operators,according to the composition principle of the flushing system,a set of intelligent water flushing device was designed.The dynamic model of the transmission system and the model of the servo control system were established,the dynamic response of the system was analyzed,and the main factors affecting its dynamic characteristics were found.According to the method of time-varying speed loop gain,the proportional integral derivative(PID)control scheme of the servo system was optimized.Through simulation,the optimized vibration characteristic curve of the system was obtained.The comparison shows that the initial response time of the system is shortened by 19.76%.Finally,it was verified by building an on-site test device.The initial response speed of the system increases by 16.1%,the maximum amplitude reduces by 8.6%,and the fluctuation time shortens by 10.2%.The results show that in the insulator washing process,the optimized control scheme of the time-varying speed loop gain can effectively reduce the vibration amplitude of the intelligent water washing device,shorten the response time of the system,and improve the stability of the system.