Research on the adaptive control method of pre-landing for high voltage transmission line inspection robot based on multi-body transfer matrix method

2020 ◽  
Author(s):  
Haiming Shen ◽  
Xiaodong Zhang ◽  
Ahmad Bala Alhassan ◽  
Haibo Xu ◽  
Xin Zhang ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Transmission Line ◽  
Transfer Matrix ◽  
High Voltage ◽  
Transfer Matrix Method ◽  
Matrix Method ◽  
Control Method ◽  
High Voltage Transmission Line ◽  
Inspection Robot ◽  
Multi Body

Study of Transfer Matrix of Rolling Bearing Including Squeeze Film Damper

2012 ◽  
Vol 490-495 ◽  
pp. 618-622
Author(s):  
Hua Tao Tang ◽  
Xin Yue Wu
Keyword(s):  
Transfer Matrix ◽  
Transfer Matrix Method ◽  
Matrix Method ◽  
Rolling Bearing ◽  
Squeeze Film ◽  
Body System ◽  
Squeeze Film Damper ◽  
Rotor Bearing ◽  
Multi Body ◽  
Bearing System

The transfer matrix of rolling bearing including squeeze film damper (SFD) is studied, and the rotor – bearing system is modeled by transfer matrix method of multi-body system. It is proved by an example that the method, which provides a new idea to solve the problem of complex rotor – bearing system, is feasible and effective.

scholarly journals Autonomous Behavior Intelligence Control of Self-Evolution Mobile Robot for High-Voltage Transmission Line in Complex Smart Grid

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Wei Jiang ◽  
Gan Zuo ◽  
De Hua Zou ◽  
Hongjun Li ◽  
Jiu Jiang Yan ◽  
...  
Keyword(s):  
Smart Grid ◽  
Transmission Line ◽  
High Voltage ◽  
Power Transmission ◽  
Control Method ◽  
Behavior Control ◽  
High Voltage Transmission Line ◽  
Autonomous Operation ◽  
Autonomous Behavior ◽  
High Voltage Transmission

In complex smart grid, the power maintenance robot is important equipment to ensure the reliable operation of high-voltage lines and it is a useful exploration to realize high-quality power transmission. In view of the increasingly prominent contradiction between the robot single operation function and the diversification of power grid maintenance operations, additional with the robot weak autonomous operation and intelligent behavior ability, this paper proposes a new configuration of a reconfigurable power robot with terminal functions and its autonomous operation behavior control method for the three typical tasks which are the high-voltage transmission line insulators, drainage plates, and dampers maintenance. Through the analysis and planning of the robot operation behavior, the robot finite state machine (FSM) model in the three operation states has been established. Through the introduction of the state transfer function in the FSM, the automatic switching control between the robot key operation states can be realized, and the robot motion planning can be optimized. The movement and working flow of the robot improve the robot operation intelligence and operation efficiency. Based on this, the robot autonomous operation control system has been designed and the robot physical prototype has been developed for three maintenance tasks of insulators, drainage plates, and dampers. Finally, simulation experiments and field operation tests verify the effectiveness and engineering practicability of the proposed method. Compared with traditional manual control, the autonomous behavior control method can significantly improve the robot operational efficiency and operational intelligence. At the same time, the robot multitask function and autonomous behavior control under different tasks can be realized and the method has strong versatility for different task objects and different line environments. The research and its promotion have important theoretical significance and practical application value for the power system operation and maintenance integration management.

Vibration Analysis of Ball Screw Drive System for CNC Machine Tool

2010 ◽  
Vol 139-141 ◽  
pp. 1224-1228
Author(s):  
Ya Wei Zhang ◽  
Wei Min Zhang
Keyword(s):  
Transfer Matrix ◽  
Transfer Matrix Method ◽  
Matrix Method ◽  
Drive System ◽  
Ball Screw ◽  
Body System ◽  
Cnc Machine ◽  
Screw Drive ◽  
Ball Screw Drive ◽  
Multi Body

In order to raise ability of five-axis CNC machine tools to machine geometrically complex work pieces efficiently and with higher dimensional accuracy, it is necessary to research its mechanical eigenfrequency of mechanical transmission system. A multi-body modeling method for the vibration analyze of ball screw drive system is presented in this paper. To design such a structure properly, an analysis model for the multi-body system needs to be developed to estimate the modal characteristics effectively and properly; the transfer matrix method for the solution of the eigenfrequency problems of ball screw drive system for CNC machine is considered here. The vector–matrix formulizers of motion of multi-body system for this system are given. By using transfer matrix method, the global dynamics equation is not needed in the study of multi-body system dynamics, and it has advantages of a small size of matrix and higher computational speed.

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