System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks
GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6691905 |
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| author | Yu Yan Wei Jiang Zhiping Luo Jianjun Zhang Weidong Liu |
| author_facet | Yu Yan Wei Jiang Zhiping Luo Jianjun Zhang Weidong Liu |
| author_sort | Yu Yan |
| collection | DOAJ |
| description | GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks. |
| format | Article |
| id | doaj-art-0d4d6dabb23f4d07878d553ab2a03464 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0d4d6dabb23f4d07878d553ab2a034642025-08-20T02:03:01ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66919056691905System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid NetworksYu Yan0Wei Jiang1Zhiping Luo2Jianjun Zhang3Weidong Liu4State Grid Hunan Maintenance Company, Changsha 410004, ChinaWuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, Wuhan 430200, ChinaState Grid Hunan Maintenance Company, Changsha 410004, ChinaState Grid Hunan Maintenance Company, Changsha 410004, ChinaState Grid Hunan Maintenance Company, Changsha 410004, ChinaGIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks.http://dx.doi.org/10.1155/2021/6691905 |
| spellingShingle | Yu Yan Wei Jiang Zhiping Luo Jianjun Zhang Weidong Liu System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks Complexity |
| title | System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks |
| title_full | System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks |
| title_fullStr | System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks |
| title_full_unstemmed | System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks |
| title_short | System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks |
| title_sort | system optimization and robustness stability control for gis inspection robot in complex microgrid networks |
| url | http://dx.doi.org/10.1155/2021/6691905 |
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