Modeling and Simulation of Coupling Connected Motor Towing Test System in High Voltage Wire Inspection Robot

ABSTRACT The working environment for safety inspection of high‐voltage wires is quite harsh, such as high and low temperature, high altitude, wind and rain weather, and so forth. High‐voltage wire inspection robots can replace human work. In this robot, the harmonic suppression of the permanent magnet synchronous motor will determine the completion of inspection work. Therefore, from the angle of motor control, this study examines the connection mode, working principle, and control theory of the drive motor and load motor in the motor‐to‐drag test system. The simulation model of the drag test system was established. The running state of the motor was analyzed. The influence of the load motor on the speed harmonic of the driving motor was analyzed. Then, the correctness of the improved control strategy was verified. An electronic control‐electromagnetic joint simulation model of the two motors was established, and the spectrum characteristics caused by the electromagnetic force of the driving motor were analyzed. The motor characteristics before and after the improvement of the control strategy were compared and verified on the built towing test system. After the improvement of the control strategy, the speed harmonics were effectively suppressed, and the harmonic amplitude at 18 times the fundamental frequency of the current was reduced by 94.74%. This greatly improves the stability of the robot in the operation of high‐voltage electric wire.