Research Of The Stabilization And Tracking Control Technique For Power Transmission Line Inspection Robot

High-voltage transmission line inspection is a dangerous, labor-intensive, involving a wide range of electrical work tasks. So far, mainly rely on inspection personnel perform inspection tasks along the high cost, low efficiency, leak check error rate is high. Line inspection robot provides a robot operating system, instead of testing personnel for line testing and maintenance, improved management and maintenance of the line level.Inspection robot needs to accommodate multiple modules, such as motors, scanners, control panel, wireless module, power module, the volume is relatively large. In the course of its transmission line, due to the weather, the robot is running, high-voltage swing and dance and other reasons, making the robot system used in the optical detection equipment interference.This paper focuses on the visual axis stabilization technology, object gaze tracking technology, including passive damping and inertial stabilization technology, precision tracking and adaptive servo technology. Stable part of the inertia, the paper designed a current loop PI regulator motor drive circuit hardware and DSP-based controller parts of the control circuit. To improve the system servo bandwidth, this paper uses three-ring control for the current loop, velocity loop stability, position loop, current loop driven by the hardware circuit in curing. Taking into account the actual needs of the hardware and system reliability, extend the circuit protection, the system self-test function, a variety of fault-handling capabilities. In addition, the system has also taken other measures to enhance the anti-jamming capability, such as optical isolation, shielding, grounding and other measures point. Software, using a neural network PID controller, there are many more advantages of the traditional PID controller, and do the relevant discussion.Finally, the paper established a mathematical model and system verification experiments, and various methods of stabilization and tracking methods was compared and simulation results confirm that the new control algorithm in robot vision system using transmission line has a good performance to meet the patrol line robot vision stable two-axis tracking system control needs.