Thrust Prediction Method of Jet Propulsion for Transformer Internal Inspection Robot
文献类型：会议论文
| 作者 | He Z(何震)2,3,4,5 ; Wang YB(王亚彪)2,3,4,5; Sun XS(孙先帅)1,2,3,4,5; Zhao YM(赵宇明)2,3,4,5; Li ZG(李智刚)2,3,4,5
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| 出版日期 | 2022 |
| 会议日期 | February 25-27, 2022 |
| 会议地点 | Guangzhou, China |
| 页码 | 1-11 |
| 英文摘要 | Robot technology has been successfully applied to the internal inspection of large power transformers. In order to further improve the level of robot intelligent control and realize robot motion control accuracy of the floating state, this paper analyzes the factors that affect the jet thrust of the robot propulsion system on the developed spherical transformer internal inspection robot platform based on jet propulsion, and builds an experimental platform. Combining experimental data to establish jet thrust equation. On this basis, the working state of the robot power system is further analyzed, the equivalent discharge model of the robot battery is established, the battery state parameters are introduced into the jet thrust equation. Finally, a mathematical model of jet thrust prediction is established that comprehensively considers the robot power system, control system, and environmental parameters. The establishment of this model lays a good theoretical foundation for the establishment of the robot's precise dynamics model, fine motion control and intelligent control algorithm. |
| 产权排序 | 1 |
| 会议录 | 2022 International Conference on Electrical, Power and Grid Systems, ICEPGS 2022
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| 会议录出版者 | IOP |
| 会议录出版地 | Bristol, UK |
| 语种 | 英语 |
| ISSN号 | 1742-6588 |
| 源URL | [http://ir.sia.cn/handle/173321/31014]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | He Z(何震); Wang YB(王亚彪) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, China |
| 推荐引用方式 GB/T 7714 | He Z,Wang YB,Sun XS,et al. Thrust Prediction Method of Jet Propulsion for Transformer Internal Inspection Robot[C]. 见:. Guangzhou, China. February 25-27, 2022. |
入库方式： OAI收割
来源：沈阳自动化研究所
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