CAJ | 학술논문

为了对机器人巡检完预定杆塔所需的能耗进行准确的估计，对巡视机器人进行受力分析，利用积分法得到基于线路的环境参数（档段的水平档距、档段高差等）的单档段内的能耗模型；通过实验验证了模型的可行性．通过分析可知，需要巡检的杆塔越多，经过每个档段误差的积累，从起始杆塔截止到终止杆塔的能耗理论值与测量值之间的相对误差越来越大，导致无法准确地估计巡检完预定杆塔所需的能耗．基于自适应卡尔曼滤波器对由能耗模型得到的能耗理论值进行迭代修正，将相对误差控制在1．05％左右，提高了估计精度．
위료대궤기인순검완예정간탑소수적능모진행준학적고계，대순시궤기인진행수력분석，이용적분법득도기우선로적배경삼수（당단적수평당거、당단고차등）적단당단내적능모모형；통과실험험증료모형적가행성．통과분석가지，수요순검적간탑월다，경과매개당단오차적적루，종기시간탑절지도종지간탑적능모이론치여측량치지간적상대오차월래월대，도치무법준학지고계순검완예정간탑소수적능모．기우자괄응잡이만려파기대유능모모형득도적능모이론치진행질대수정，장상대오차공제재1．05％좌우，제고료고계정도．
A mechanical analysis for the inspection robot on the line was conducted in order to accurately estimate the energy consumption w hich is required to ensure the w hole inspection process . T hen the mathematical model of energy consumption was deduced based on the line parameters of working conditions (span between the adjacent towers ,height difference of the adjacent towers ,and so on) by the integral method .The feasibility of the model was verified by experiment .The analysis results suggest that the more towers need to inspect the bigger relative error between the theory value and the measured value of the energy consumption from the start tower until terminate tower is ,which is caused by the cumulated error of the every line section between the adjacent towers .The energy consumption required for the whole inspection process cannot be accurately estimated .The theory value of the energy consumption from the start tower until terminate tower was iteratively corrected by the adaptive Kalman filter .The relative error was controlled around 1 .05% ,and the estimation accuracy was improved .