The resilience of power infrastructure against environmental challenges, particularly wind-induced vibrations, is crucial for ensuring the reliability and longevity of overhead power lines. This dissertation extends the development of the Mobile Damping Robot (MDR) as a novel solution for mitigating wind-induced vibrations through adaptive repositioning and energy harvesting capabilities. Through comprehensive experimental and numerical analyses, the research delineates the design, optimization, and application of the MDR, encompassing its dynamic adaptability and energy harvesting potential in response to varying wind conditions. The study begins with the development and validation of a linearized model for the MDR, transitioning to advanced nonlinear models that more accurately depict the complex interactions between the robot, cable system, and environmental forces. A global stability analysis provides crucial insights into the operational limits and safety parameters of the system. Further, the research explores a multi-degree-of-freedom system model to evaluate the MDR's efficacy in real-world scenarios, emphasizing its energy harvesting efficiency and potential for sustainable operation. Findings from this research show the clear promise for the development of the MDR with the consideration of the nonlinear dynamics in play between the robot, the cable, and the wind. This work lays a foundational framework for future innovations in infrastructure maintenance, paving the way for the practical implementation of mobile damping technologies in energy systems. / Doctor of Philosophy / Across the United States, over 160,000 miles of power lines crisscross the landscape, powering everything from small homes to large industrial complexes. These critical infrastructures, however, are constantly battered by the elements, particularly by strong winds capable of inducing Aeolian vibrations. Such vibrations lead to oscillations in the power lines due to wind forces, potentially causing severe structural damage, compromising public safety, and incurring considerable economic costs. In response to these challenges, various mitigation strategies have been employed. Traditional methods include regular inspections carried out by foot patrols, helicopters, or sophisticated inspection robots, though these approaches are notably resource-intensive and costly. Additionally, mechanical devices like Stockbridge dampers are utilized to dampen the vibrations, but they suffer from efficiency issues when misaligned with the vibration nodes. This dissertation extends the study to an innovative solution to overcome these limitations: a mobile damping robot designed to navigate along power lines and autonomously position itself at the points of highest vibration amplitude, thereby optimizing vibration dampening. This study delves into the feasibility and effectiveness of such a solution, supported by thorough numerical simulations. The aim is to demonstrate how this advanced approach could redefine maintenance strategies for power lines, enhancing their resilience against wind-induced vibrations and reducing the reliance on laborious inspection methods and static damping devices with limited efficiency.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/119153 |
| Date | 28 May 2024 |
| Creators | Kakou, Paul-Camille |
| Contributors | Mechanical Engineering, Barry, Oumar, Southward, Steve C., Zuo, Lei, Sandu, Corina |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Dissertation |
| Format | ETD, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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