Research On Motion Controller Of Substation Inspection Robot

The harsh environment of substations has made the work of inspection workers more difficult,resulting in very low inspection efficiency.Under this background,the substation inspection robot came into being.The emergence of it has made up for the lack of a single inspection method for substations and allowed our power equipment to operate more stably.The substation inspection robot is a complex,non-linear system with a self-inspection system that combines multiple sensors,various communication methods,and complex intelligent control algorithms.In this paper,the main control chip adopts MK60DN512.Firstly,by analyzing the robot body control model and the substation inspection robot body dynamics model,the front-wheel differential steering and rear-wheel drive motion controllers are established.Based on this,the driving equipment of the inspection robot is selected,and in the MATLAB environment,the front-wheel differential steering and rear-wheel driving simulation platforms are respectively established.Among them,the drive equipment uses speed,current double loop control,improve system stability.Based on this,the front wheel also introduced an angle ring to complete the final tracking of the system.Based on the simulation,the hardware and software overall plan of the motion control system is designed.The hardware scheme mainly includes a minimum system module,a drive circuit module,an electromagnetic sensor module,and a power supply module,and performs analysis and specific circuit design for each functional module.On the basis of building a good hardware platform,corresponding to each software function module design.Finally,the correctness of the system and the effectiveness of the proposed method are verified by simulation and some experiments.