Abstract

As power demand across communities increases, focus has been given to the maintenance of power lines against harsh environments such as wind-induced vibration (WIV). Inspection robots and fixed vibration absorbers (FVAs) are the current solutions. However, both solutions are currently facing many challenges. Inspection robots are limited by their size and considerable power demand, while FVAs are narrowband and unable to adapt to changing wind characteristics and thus are unable to reposition themselves at the antinodes of the vibrating loop. In view of these shortcomings, we propose a mobile damping robot (MDR) that integrates inspection robots mobility and FVAs WIV vibration control to help maintain power lines. In this effort, we model the conductor and the MDR by using Hamilton’s principle, and we consider the two-way nonlinear interaction between the MDR and the cable. The MDR is driven by a proportional-derivative (PD) controller to the optimal vibration location (antinodes) as the wind characteristics vary. The numerical simulations suggest that the MDR outperforms FVAs for vibration mitigation. Furthermore, the key parameters that influence the performance of the MDR are identified through a parametric study. The findings could setup a platform to design a prototype and experimentally evaluate the performance of the MDR.

References

1.
Vecchiarelli
,
J.
,
Currie
,
I.
, and
Havard
,
D.
,
2000
, “
Computational Analysis of Aeolian Conductor Vibration with a Stockbridge-Type Damper
,”
J. Fluids Struct.
,
14
(
4
), pp.
489
509
.
2.
Lu
,
M.
, and
Chan
,
J.
,
2007
, “
An Efficient Algorithm for Aeolian Vibration of Single Conductor With Multiple Dampers
,”
IEEE Trans. Power Deliv.
,
22
(
3
), pp.
1822
1829
.
3.
Barry
,
O.
,
Oguamanam
,
D. C.
, and
Lin
,
D. C.
,
2013
, “
Aeolian Vibration of a Single Conductor With a Stockbridge Damper
,”
Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci.
,
227
(
5
), pp.
935
945
.
4.
Barry
,
R. O.
,
2014
, “
Vibration Modeling and Analysis of a Single Conductor With Stockbridge Dampers
,”
Ph.D. thesis
,
University of Toronto
,
Toronto
.
5.
Barry
,
O.
,
Zu
,
J.
, and
Oguamanam
,
D.
,
2015
, “
Analytical and Experimental Investigation of Overhead Transmission Line Vibration
,”
J. Vib. Control
,
21
(
14
), pp.
2825
2837
.
6.
Barry
,
O.
,
Zu
,
J.
, and
Oguamanam
,
D.
,
2015
, “
Nonlinear Dynamics of Stockbridge Dampers
,”
ASME J. Dyn. Syst. Meas. Control.
,
137
(
6
), p.
061017
.
7.
Barry
,
O.
,
Long
,
R.
, and
Oguamanam
,
D.
,
2017
, “
Simplified Vibration Model and Analysis of a Single-Conductor Transmission Line With Dampers
,”
Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci.
,
231
(
22
), pp.
4150
4162
.
8.
President’s Council of Economic Advisers
,
2013
, “
Economic Benefits of Increasing Electric Grid Resilience to Weather Outages
,” pp.
163
178
. https://www.energy.gov/sites/prod/files/2015/03/f20/Edison%20Electric%20Institue%20Comments%20and%20Resources-%20QER%20-%20Enhancing%20Infrastructure%20Resiliency%20FINAL.pdf
9.
Katrasnik
,
J.
,
Pernus
,
F.
, and
Likar
,
B.
,
2009
, “
A Survey of Mobile Robots for Distribution Power Line Inspection
,”
IEEE Trans. Power Deliv.
,
25
(
1
), pp.
485
493
.
10.
Miller
,
R.
,
Abbasi
,
F.
, and
Mohammadpour
,
J.
,
2017
, “
Power Line Robotic Device for Overhead Line Inspection and Maintenance
,”
Ind. Robot: An Int. J.
,
44
(
1
).
11.
Lima
,
E. J.
,
Bomfim
,
M. H. S.
, and
de Miranda Mourão
,
M. A.
,
2018
, “
POLIBOT–POwer Lines Inspection RoBOT
,”
Ind. Robot: An Int. J.
12.
EPRI
,
U.
, and
R&D
,
E.
,
2006
, “
Profiling and Mapping of Intelligent Grid R&D Programs
,
US EPRI
,
Palo Alto, CA
,
Technical Report
.
13.
Myung
,
H.
,
Wang
,
Y.
,
Kang
,
S.
, and
Chen
,
X.
,
2014
, “
Survey on Robotics and Automation Technologies for Civil Infrastructure
,”
Mechanical Engineering
,
University of Canterbury
.
14.
Phillips
,
A.
,
Engdahl
,
E.
,
McGuire
,
D.
,
Major
,
M.
, and
Bartlett
,
G.
,
2012
, “
Autonomous Overhead Transmission Line Inspection Robot (TI) Development and Demonstration
,”
2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)
,
Zurich, Switzerland
,
September, IEEE
, pp.
94
95
.
15.
Cho
,
K. H.
,
Jin
,
Y. H.
,
Kim
,
H. M.
,
Moon
,
H.
,
Koo
,
J. C.
, and
Choi
,
H. R.
,
2016
, “
Multifunctional Robotic Crawler for Inspection of Suspension Bridge Hanger Cables: Mechanism Design and Performance Validation
,”
IEEE/ASME Trans. Mechatron.
,
22
(
1
), pp.
236
246
.
16.
Almadhoun
,
R.
,
Taha
,
T.
,
Seneviratne
,
L.
,
Dias
,
J.
, and
Cai
,
G.
,
2016
, “
A Survey on Inspecting Structures Using Robotic Systems
,”
Int. J. Adv. Rob. Syst.
,
13
(
6
), p.
1729881416663664
.
17.
Yang
,
L.
,
Fu
,
C.
,
Li
,
Y.
, and
Su
,
L.
,
2019
, “
Survey and Study on Intelligent Monitoring and Health Management for Large Civil Structure
,”
Int. J. Intell. Rob. Appl.
,
3
(
3
), pp.
239
254
.
18.
Pouliot
,
N.
,
Richard
,
P.-L.
, and
Montambault
,
S.
,
2015
, “
Linescout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines
,”
IEEE Power and Energy Technol. Syst. J.
,
2
(
1
), pp.
1
11
.
19.
Fei
,
J.
,
Lin
,
B.
,
Yan
,
S.
,
Ding
,
M.
,
Xiao
,
J.
,
Zhang
,
J.
,
Zhang
,
X.
,
Ji
,
C.
, and
Sui
,
T.
,
2017
, “
Chatter Mitigation Using Moving Damper
,”
J. Sound. Vib.
,
410
(
1
), pp.
49
63
.
20.
Wang
,
Y.
, and
Lo
,
C.
,
2014
, “
Design of Hybrid Dynamic Balancer and Vibration Absorber
,”
Shock and Vib.
,
2014
.
21.
Barry
,
O.
, and
Bukhari
,
M.
,
2017
, “
On the Modeling and Analysis of an Energy Harvester Moving Vibration Absorber for Power Lines
,”
ASME 2017 Dynamic Systems and Control Conference
,
Tysons, VA
,
Oct. 11–13
.
22.
Bukhari
,
M. A.
,
Barry
,
O.
, and
Tanbour
,
E.
,
2018
, “
On the Vibration Analysis of Power Lines With Moving Dampers
,”
J. Vib. Control
,
24
(
18
), pp.
4096
4109
.
23.
Paul
,
K.
, and
Oumar
,
B.
,
2021
, “
On the Vibration Suppression of Power Lines Using Mobile Damping Robots
,”
Eng. Struct.
,
239
, p.
112312
.
24.
Barry
,
O. R.
,
Tanbour
,
E. Y.
,
Vaja
,
N. K.
, and
Tanbour
,
H.
,
2018
, “
Asymmetric Aeolian Vibration Damper
,”
US Patent 9,948,081
.
25.
Foti
,
F.
, and
Martinelli
,
L.
,
2016
, “
Mechanical Modeling of Metallic Strands Subjected to Tension, Torsion and Bending
,”
Int. J. Solids. Struct.
,
91
, pp.
1
17
.
26.
Meirovitch
,
L.
,
2010
,
Fundamentals of Vibrations
,
Waveland Press
,
Long Grove, IL
.
27.
Inman
,
D. J.
, and
Singh
,
R. C.
,
1994
,
Engineering Vibration
, Vol.
3
,
Prentice Hall Englewood Cliffs
,
NJ
.
You do not currently have access to this content.