Research On Design And Control Of Patrol Robot System In Substation

The basic requirements for substation inspections are to detect in real time the operating conditions of the equipment of the substation and the work conditions on the site,and to feedback relevant information to the substation management department to reduce the burden on staff and make the operation of the substation more secure and reliable.This paper designs a two-wheel differential drive inspection robot based on the inspection requirements of the substation,and studies its control system.The main work of the paper is as follows:First,the mechanical structure was optimized and compared according to the inspection requirements of the substation,the mechanical structure was designed and implemented,and the automatic charging device and waterproof structure of the inspection robot were designed to enable it to continuously complete the inspection tasks and adapt to the complex substation inspection Climate environment.Secondly,the control system of the inspection robot is designed,which includes the overall architecture,overall design and control scheme design,and the equipment of the substation inspection robot is selected based on performance requirements.The STM32 microcontroller is the main controller and the driver is selected.And sensors,designed a multi-voltage output circuit board to meet the different voltage needs of each device.Then,the two-wheel-drive differential kinematics model is studied,and the patrol robot is controlled by the adaptive PID control algorithm.The straight lines and curves are simulated in MATLAB software.Considering the needs of actual control,RFID-calibrated odometer positioning system realizes the positioning of the inspection robot,making the data measured by the inspection robot during the tracking process more accurate.Finally,using the inspection robot experiment platform,the positioning module was tested,and magnetic tracking experiments were performed,including linear tracking experiments,curve tracking experiments,and comprehensive curve tracking experiments.The experimental data was measured by the positioning system,and the analysis of it verifies the reliability of the control algorithm.