The Design Of The Photoelectric Turntable Servo Control System In The Power Grid Laser Cleaning Device

Foreign bodies suspended on power transmission lines are one of the important factors causing power supply failure.It is of great significance for the safe operation of power grid to remove foreign bodies in time.Traditional methods of removing foreign bodies at high altitudes include manual live operation,UAV(unmanned aerial vehicle)removing foreign bodies at high altitudes or power failure treatment.These methods are time-consuming,labor-consuming or difficult to operate,and are vulnerable to topographic environment.In recent years,the application of laser technology has become more and more widespread,using laser instantaneous high-energy,directional,long-distance transmission and other characteristics,can achieve the purpose of remotely removing foreign bodies.In order to improve the efficiency and better removal effect,a new scheme of laser foreign body removal device is proposed,which uses a high-definition camera and fiber laser mounted on a photoelectric turntable,and combines image processing technology and servo control system technology to realize automatic identification and tracking of winding foreign bodies on transmission lines.Then the foreign body can be removed by laser.The main content of this paper is to design a high-precision two-axis photoelectric turntable servo control system for laser foreign body removal device.The specific work is as follows:(1)According to the system specifications and functional requirements of laser foreign body removal device,the overall design scheme of the turntable is proposed.The structure of the turntable and the design of the optical path are analyzed.The camera is mounted on the pitching axis,and the laser is output to the path passing below the azimuth axis of the turntable.(2)The servo system of the turntable adopts the closed loop control of azimuth and pitch axis,the rotating transformer as the feedback element and the R/D converter as the high precision feedback link,the ARM processor as the control chip,and the vector control technology.Based on the selection of the core components of each functional module,the communication circuit,control circuit and drive circuit are designed with modular design idea.(3)The control algorithm and software design of the servo control system of the turntable are completed.The algorithm mainly includes vector control algorithm of PMSM(permanent magnet synchronous motor),position feed-forward controller and trajectory generator algorithm.In view of the unsatisfactory tracking accuracy of the existing trajectory generator algorithm,this paper improves it to meet the requirements of high precision tracking.The software part mainly includes the design of control software and communication software of azimuth and pitch ARM processor.The control software mainly completes PWM pulse generation,motor phase current A/D sampling,rotating transformer position detection,SPI,RS232 communication,status monitoring and other functions.(4)The prototype is made and the system debugging is completed,including the debugging of the control drive circuit and the main function circuit,and the tracking performance debugging of the whole turntable.In the practical application of the laser foreign body removal device,the performance of the turntable is verified by simulating the tracking and cutting of foreign bodies on the transmission line.