The power inspection of energy transmission networks is an effective way of mitigating risks, and failures, and avoiding mistakes in the transmission system. However, the inspection market is highly competitive and has difficulties in this process, mainly due to the high altitude of the lines. A standard solution for inspection of high-altitude power lines can be implemented using drones and aircraft, however, has a high cost for operation and poor logistics viability. In this scenario, "Prof. Raul Guenther’s Robotic Lab" developed a project of a robot that goes through low and medium-voltage wires to power inspection of transmission systems in urban networks. In this paper we propose the use of a self-balancing robot, aiming to execute the inspection, using a 2D balance control to stabilize the balance on the cable. Moreover, we evaluate the viability and effectiveness of the proposed control strategy, highlighting its advantages and properties using numerical simulations considering a non-linear model, and expected disturbances. Moreover, we develop computational experiments with graphical results, simulating the model in different situations to find the limits of the controller, based on the maximum speed of the wind and the robot moving through the wires.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    2D balance control of a self-balancing robot for power inspection in urban networks



    Erscheinungsdatum :

    2024-04-10


    Anmerkungen:

    doi:10.18265/1517-0306a2021id6839
    Revista Principia - Divulgação Científica e Tecnológica do IFPB; v. 61, n. 2 (2024): Em formação; 314-334 ; 2447-9187 ; 1517-0306



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Self-balancing inspection robot

    JIANG XIAOYONG / SHEN BIAO / GENG XIAOTANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Gravity center self-balancing type double-arm inspection robot

    LIN GUIMING / CHEN YONGZHI / QIAO XIANGRONG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Self-balancing robot control method and system, self-balancing robot and medium

    WANG SHUAI / CUI LEILEI / ZHANG ZHENGYOU | Europäisches Patentamt | 2020

    Freier Zugriff

    Self-balancing robot control method and system, self-balancing robot and medium

    WANG SHUAI / CUI LEILEI / ZHANG ZHENGYOU | Europäisches Patentamt | 2020

    Freier Zugriff

    Control of self-balancing robot

    Lundgren, Ludvig / Ahnlund, David | BASE | 2023

    Freier Zugriff