Simultaneous Vibration Control and Energy Harvesting of Nonlinear Systems Applied to Power Lines

Abstract

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.