The Design Of Control System For Substation Track Inspeiction Robot

In order to improve the reliability of the power supply,the State Grid Corporation of China has spent a lot of manpower to carry out the operation and maintenance management of the substation.In this process,there are some problems,such as low frequency of inspection,heavy workload,high security risk and uncontrollable inspection quality.Therefore,some outdoor intelligent robots which dedicated to the electric power substation occur in recent years.However,the indoor inspection is still operated by manpower,so a new indoor inspection robot is needed to be developed.In this paper,the control system is used for power substation track inspection robot.It includes main controller,motor motion control module,navigation and location module,safety protection module,communication module,power management module and so on.The control system obtains the motion instructions from the management software through the communication module,and controls the robot to arrive at the pointed position.Then the business module completes the corresponding patrol work under the management of the software.The control system of track inspection robot uses the STM32 microcontroller of ST company as the main controller.This microcontroller is suitable for industrial scene due to its high performance,low power consumption,strong anti-interference ability and abundant resources.Achieving three-way stepper motor control through integrating SANYO’s integrated motor control chip LV8727,furthermore,multi-channels infrared radar were added to the system through expanding the main controller universal input or output interface,which made the system have ability to detect obstacles in the running process of robot.On the other hand,sliding power supply was used in power supply,and power management circuits with power filtering,voltage and current monitoring,peripheral power control were designed to ensure the safe operation of system.The software of track inspection robot control system was based on Free RTOS operating system.The navigation and positioning was achieved by an Odometer,however,this method may accumulate error due to stepping motor out-of-step or skidding of the waling wheel,so a S curve motor scheme was introduced in system,and the combination of RFID calibration and zero calibration measure can eliminate accumulated error effectively.The control system achieved acceleration,deceleration and uniform operation of multiplemotors.In order to prevent the collision of robot during the movement,a corresponding protection program was designed to ensure the safe and reliable operation of system.In terms of communication,Ethernet communication is used to communicate with the management software,and the same communication with business system is maintained at the same time,reduced costs to some extent.Finally,the motion control and precise positioning of the track inspection robot in the substation were realized by combining hardware and software debugging.At present,unattended automatic inspection of switch cabinets and other equipment have been implemented in a number of substations,sharing a litter power for improving the reliability of power supply.