| Company with vigorously transformation of power grid in China, the domestic power plants have introduced a lot of electric power equipments, this makes the operation environment of the power plant more complex, and greatly increases the plant inspector’s workload and difficulty. Inspection work of power station inspector can be very dangerous that even threaten their safety especially in the weather of thunder storm, high wind. The advent of substation inspection robot that using its airborne equipment for real-time monitoring of each substation equipment is used to instead of manual work, this greatly raises the possibility of resolving the problems in time, reduces the work difficulty and danger level of power station inspector, it is a development trend of power plant inspection work in the future.This paper mainly makes an analysis and design for mobile platform of inspection robot, and implements the mobile platform in the fixed-point detection in the process of inspection, including the main research contents as follow:(1)Research of motion control algorithm of mobile robot platform. According to the movement characteristics of mobile robot platform, developed a mathematical model,deduced the relationship between the two drive motors when go straight and turn, this provid a basis for robot control algorithm of the mobile platform.(2)Design of hardware system for mobile robot platform. The hardware system include the control core, tracking module, ultrasonic distance measuring module, power module, liquid crystal display module, battery module, position module. MC9S12XS128 was chose as the master control chip, and basing on this chip, a SCM smallest system was designed; Through using a combination of magnetic sensor and magnet wire as tracking module to complete the requirements of predetermined running track of mobile robot platform; A ultrasonic obstacle avoidance robot module was used to resolve the problem of obstacles encountered when operating; LCD screen was used to display the current robotoperation, make the staff to grasp the running condition of robot better.(3)Research of straight line running algorithm of mobile robot platform. Because of the different response of the two motor, the platform will run a broken line when running a straight line. Therefore, it requires an appropriate algorithm to coordinate the operation of two motors to make it go a straight line. In this paper, incremental PID control algorithm was adopted for the drive motor, through establishing simulation model in SIMULINK,using decay curve method obtained three parameters of PID, then making a simulation,comparing the response curve of increment PID algorithm and without increment PID algorithm, the conclusion that the incremental PID can well improve the response speed of the motor was concluded.(4)Programming of the running algorithm. Using C write program of each algorithm to realize the precise control of the inspection robot mobile platform, result shows that the system can meet operation requirements. |
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