计及电池SOC的输电封网机器人速度优化控制研究

Research on speed optimization control of power transmission⁃line considering battery SOC

输电线路封网机器人可有效提升安全性,对于由蓄电池供电的封网机器人如何根据实际工况尽可能延长工作时间是需要解决的实际问题。本文研究了根据电池SOC状况和实际工作需要合理控制封网机器人运行速度,进而提升封网机器人的续航能力。首先分析了直流电机速度与功率的关系,改变电机转速便可改变电机输出功率,进而控制电池SOC的变化程度。提出计及电池SOC的输电线路封网机器人的优化速度控制策略,设计出了计及电池SOC的四种速度调节系数,根据SOC的实时值动态调整机器人的输出功率,提高电池电量的利用效率。仿真和实验结果表明,保守型调速与全力型调速相比电池SOC的消耗减小近一半,从而验证了所提控制策略的有效性。

Transmission⁃line blocking robot can effectively improve security.It is a practical problem to be solved that how to prolong the working time of the blocking robot powered by the battery according to the actual working conditions.In the paper,it is studied how to reasonably control the operation speed of the blocking robot according to the battery SOC and the actual work needs,so as to improve the endurance of the blocking robot.Firstly,the relationship between the robot's DC motor speed and the output power is analyzed.Changing the motor speed can change the motor output power,thus controlling the change degree of battery SOC.Consequently,an optimal speed control strategy of transmission line blocking robot considering battery SOC is proposed,and four speed adjustment coefficients are designed.According to the real⁃time value of SOC,the output power of robot motor is dynamically adjusted to improve the utilization efficiency of battery power.The simulation results show that battery SOC nearly doubled by conservative speed regulation compared with full speed regulation,which verifies the effectiveness of the proposed control strategy.According to the real⁃time value of SOC,the output power of the device is dynamically adjusted to improve the utilization efficiency of battery power.