Design And Implementation Of Substation Inspection Robot Control System

With the development of the scale of the power system and the maturity of robotics,using inspection robots instead of manual inspections can effectively improve inspection efficiency and realize intelligent management of the power grid.Aiming at the substation inspection environment,this paper designs and implements a substation inspection robot control system.The main research work is as follows.First of all,the functional requirements of the substation inspection robot were analyzed in this paper,and the overall architecture of the robot was also designed.A design scheme of the inspection robot control system based on the hierarchical design was given,separating the inspection robot into upper-level control system and the underlying mobile platform.Then the core devices involved in the solution were selected.Secondly,according to the overall design scheme,improvements to the mechanical structure of the inspection robot and the composition of the omnidirectional wheel have been made,in response to problems such as heavy robot weight,complicated wiring,difficult disassembly,and poor shock absorption in practical applications.A simplified electrical design scheme and related equipment parameters were also given.At the same time,in order to simplify the control structure of the robot,the functions of the underlying mobile platform need to be integrated.Based on this requirement,a modular idea was used in this paper to complete the design of the motion control circuit board and its various modules,including the main control module and voltage conversion module,debug and download module,relay control module,and various communication modules.Thirdly,since the robot's in-situ steering model will take a lot of time when the robot needs to turn during the actual inspection process,and the two-steer model will not perform well when the movable space is narrow,a trajectory tracking scheme that allows to make a turn with a zero turning radius while moving forward,and the kinematic model and control law were given.In addition,considering that the robot control system is discrete in actual situation,an inverse solution to the actual pose of the robot was given,and the error caused by the discretization of the system was corrected by improving the control law.Furthermore,a trajectory tracking effect evaluation function was formulated based on the actual use scenario of the robot,and based on this,the control law is optimized.In this paper,the wheel kinematics model of the robot was also established,and the traditional deviation coupling controller is improved for the problem of the time-varying control relationship of the four-wheel cooperative control.At the same time,all the proposed methods were verified by simulation.Then,he software design scheme of the robot control system was given,and the scheme selection,work flow and implementation method of each subprogram were elaborated in detail,including the timer subprogram,communication subprogram,main program,and the motion control software of robot body,including communication subprogram and motion module subprogram;and according to the overall design of the robot,communication protocols at the application layer have been formulated,including the CANopen communication protocol,MODBUS communication protocol,and UDP communication protocol;at the same time,for the problem occurred in actual situation that the state data update may not be synchronized,by continuously maintaining a synchronization semaphore,the atomicity of data update was guaranteed,thereby achieving synchronization of motion state data.Finally,the real object of the inspection robot was displayed,and the actual system was jointly adjusted based in the outdoor scene,various functions such as communication,motion and trajectory tracking were implemented and tested to verify the feasibility of the design.