Research On Servo Control System Of Line Inspection Robot Based On Ultrasonic Motor

With the rapid development of power construction of China,the whole society make higher demands on the reliability and security of power facilities.One of the important research directions of future power inspection technology of China is to ensure the power system working more stable.Line inspection robot as the third inspection mode after a man for inspection and helicopter inspection gets more and more attention from all parties in power construction of China.With the further development of power construction,the requirements of the line inspection robot also become more stringent.Due to late start and immature technology of line inspection robots of China,line inspection robots have some problems when its working,such as the short inspection time,the weak anti-electromagnetic interference and so on.In order to solve these problems to a certain extent,the ultrasonic motors are added into the line inspection robot.Ultrasonic motors have some advantages such as low-speed large torque,simple mechanism,light weight,free from electromagnetic interference,power self-locking and so on.These advantages will bring greater possibilities to the inspection robot structure design.Firstly,this thesis introduced the development and the history of the line inspection robot,the research of the ultrasonic motor and the ultrasonic motor drive control.Then the operation characteristics and control principle of ultrasonic motor was present.After that,the control circuit,drive circuit,control algorithm and communication technology of line inspection robot based on ultrasonic motor were given in this thesis.In the control circuit,the control instructions from the control part to line inspection robot were designed,which including forward,backward,obstacle clearance and other related work and completed the design of control circuit board.In the driving circuit,the drive of the motor in the robot was designed,especially the ultrasonic motor drive and and completed the design of driving circuit board.In the control algorithm,the fuzzy adaptive PID algorithm was studied,and applied the fuzzy adaptive PID algorithm to the ultrasonic motor position control.In the communication technology,the Modbus communication protocol was studied,and applied the Modbus communication protocol into the wireless communication of the robot.At last,this thesis briefly introduced the mechanical design and Anti-electromagnetic interference of the line inspection robot.A series of schemes are proposed and tested for electromagnetic interference.