An efficient dynamic formulation for the vibration analysis of a multi-span power transmission line excited by a moving deicing robot

Power transmission line systems may suffer from ice disasters in cold regions. In view of the applications of deicing robots in many practical cases, it is crucial to ensure the structural safety of transmission line systems during the deicing process. Aiming at developing an efficient dynamic model for multi-span power transmission lines with moving deicing robot, an absolute nodal coordinate formulation for a slender beam with a circular cross section carrying a moving mass is developed. Three types of elements are developed for modelling the deicing process, which are classified according to the icing conditions of the power transmission line. While the mass matrix and generalized elastic force vector are time-dependent taking into account the movement of the deicing robot, numerical integration with respect to spatial coordinates can be avoided in each time step, resulting in efficient computation for dynamic analysis. After validating the present formulation by a benchmark problem, dynamic analysis is conducted for a fullsize two-span transmission line system considering the whole deicing process. Different moving velocities and masses of the deicing robot are considered. Results can provide a better understanding on the dynamics of transmission line systems with moving deicing robots and may provide useful guidelines for the decision of deicing process.