Research On The Attempering Mode Of Dual-machine Cooperative Operation Of Substation Inspection Robot

According to the actual working conditions of the 500 KV substation,the two-wheel differential drive chassis structure of the inspection robot is selected according to the requirements of wading and obstacle crossing.According to the force analysis and kinematics analysis of the chassis and tires,the selection of the drive motor and the reducer is completed,and the calculation of the battery capacity is completed according to the requirements of battery life.Aiming at the problem of GPS signal interference in substations,GPS and inertial navigation modules are used for data fusion through Kalman filtering,which improves the accuracy of navigation and,to a certain extent,solves the positioning problem in GPS blind areas.The control of the motor adopts a discrete sliding mode variable structure control algorithm.Aiming at the common chattering problems in the discrete control law based on the discrete arrival law,an adaptive discrete sliding mode control strategy is adopted.It has achieved excellent anti-buffing,approaching speed,anti-parameter perturbation and anti-interference effects.Considering the low efficiency of single machine,this thesis proposes a scheme of using dual-machine cooperative operation.The genetic algorithm for the path planning of two-machine coordinated scheduling is studied.For the mathematical model of MTSP,the PMX crossover operator and the adaptive mutation operator are designed.The influence of different populations and iteration times on the experimental results is compared and explored.Simple statistics are used.Set of experimental data,a new round of experiments was carried out in a targeted manner,and more excellent results were obtained.