Design And Implementation Of Motion Control System For Substation Inspection Robot Based On FPGA

Substation inspection robots can reduce the intensity of operation personnel,improve the quality of inspection work,reduce the hidden danger of manual inspection,and improve the efficiency of inspection work.Therefore,research and development of substation inspection robots have important social and economic significance.The main technical problems in the development of substation robots include running control algorithms,path planning,and sensor technologies.This subject takes the research of patrol robots in substations as the object,and designs and develops a patrol robot motion control system based on FPGA substation as the goal,and compares the motion control algorithm,the intelligent fast tracing algorithm and the hardware implementation of the motion control system.In-depth research,major work and conclusions are as follows:For the robot steering problem,a self-tuning electronic differential control strategy based on fuzzy PID is proposed.The simulation model of the drive motor was built in MATLAB/Simulink and a simulation study was conducted.An improved electronic differential steering controller based on fuzzy PID was designed.Simulation results show that the steering controller can reduce the robot steering process.The vibrations reduce the instability of the steering process.Aiming at autonomous walking of patrol robots,a fusion path planning algorithm of Dijkstra and ant colony algorithm is proposed.The improved tracking method is used to redefine the tracking environment of the robot.The Dijkstra algorithm is used to accelerate the tracking firstly.As a result,the ant colony algorithm was used to perform accurate quadratic acceleration,and the global optimal path was obtained quickly and accurately.The fusion algorithm was simulated in MATLAB.The simulation results verify the rapidity of the fusion path planning algorithm.accuracy.In order to improve the real-time performance of intelligent tracking,an FPGA-based ant colony algorithm is proposed.The overall structureof the ant colony algorithm and the design ideas of each module are introduced in detail.A variety of VHDL programs and test platforms are written,and the hardware simulation of each VHDL program implemented by the ant colony algorithm is invoked using Quartus II13.0 software.The simulation results show that each VHDL program module has the correct function and implements the FPGA hardware design of the ant colony algorithm.In order to develop a complete inspection robot,the ARM-based robot drive motor control circuit was designed and manufactured,and an inspection robot motion control system experiment platform was built,including the FPGA+ARM motion control hardware platform and Linux-based raspberry.The construction of the wireless communication mechanism of the board card,the design of the upper computer test software,and finally the joint debugging of the system.