Research On Drive Control Of Power Line Deicing Robot

Among the transmission accidents caused by climates,line ice and line snow lead to the most frequent number,which could be said that the snow disaster has become one of the most urgent security issues to be solved.Nowadays,the solutions of most transmission line icing are still rely on manual mechanical deicing,which is not only time-consuming,inefficient and also prone to accidents,endanger the lives of personnel.Therefore,developing a new method of deicing to replace conventional manual work has urgent practical significance,and against such background,the design and development of power line deicing robot has been raised.This paper proposed a dual-bus architecture based distributed drive control system and designed a robot drive control system through the functional modular method by analyzing the demand of deicing robot mechanical structure,performance and the effect of motion control.Firstly,the hardware circuit of the drive control system was built.The motion control module,data acquisition module and wireless communication module were designed for ARM main controller.The hardware system components and functional principle were introduced,and every module has been debugged and tested.The drive control system of de-icing robot could achieve single articulation,multi-axis synchronized motion and related signal acquisition tasks.Then,mathematical model of brushless DC motor adopted by the drive system was built,fuzzy controller design method was described,and an adaptive fuzzy PID controller with corresponding detailed design process according to the mathematical relationship between the input and output variables was suggested.The controller tuned empirical parameters of PID control system in real time by fuzzy tuning unit,and its simulation results shows that the method has good control effect,solved the traditional PID poor anti-interference ability and slow convergence speed problems.In the software design,C language was used to program the lower computer applications,and a remote deicing robots operating software based on MFC was develped,the software achieves the function of sending control commands to deicing robot via wireless transmission,which has some pratical valve.