Insulation Working Robot Design Of Measurement And Control System

Power energy is the people’s livelihood,the stability of power energy supply is to meet the demand of the people’s livelihood,and power energy mainly rely on overhead bare wire,in bad weather,often circuit short circuit and trip,or because of high foreign body winding,branches and large vehicles touch short circuit power,more because of bare wire casualties occur,for such cases,the state grid and other related units to bare wire insulation transformation measures,which mainly rely on manpower to replace the whole bare wire or buckle insulation casing,the method is time-consuming,high risk and need power operation.Subsequently,the major institutions developed automatic insulation transformation equipment instead of manual live operation,and its products have problems such as low degree of automation,complex operation,high cost and some materials will pollute the environment.This paper designs a new type of insulation robot measurement and control system for the insulation transformation of 10 k V overhead exposed wire.The specific contents are as follows:This paper first studies and analyzes the relevant literature and monographs,and understands the current research status and characteristics of overhead line robots and the composition and characteristics of control system.Secondly,this paper expounds the new insulation operation robot designed according to the working environment and the new insulation materials,including the scheme design of the mechanical system and the method analysis of the body insulation protection of the robot during live operation,and adopts the corresponding treatment method for each contact part.Finally,the operation process is explained in detail.According to the working conditions of the measurement and control system,the general framework of the system is listed and the synchronous design of each part is done by using the modular design concept.The STM32 F series is selected as the main control chip of the measurement and control system,and the power supply voltage subdivision design for each part module is conducted.At the same time,the load calculation formula for the selection of the motor and drivers.Then,the idea of temperature control and the device selection of various sensors are introduced in detail,and a handheld remote controller is designed to realize real-time data and running state detection with the robot,and finally,the circuit design of the robot body and the controller is completed.On the basis of the hardware circuit design,the embedded control system is designed,adopts PWM control method for the DC motor,adopts segmented feedback control and attitude position sensor data to adjust the robot lifting balance in real time;adopts PID control algorithm to adjust the temperature of the heating part and adopts Z-N parameter setting method to obtain the PID parameters,and the temperature stability error can be controlled within 0.5℃;Finally,the interaction program between the remote controller and the robot is completed.In the end of the paper,the robot prototype produced by the enterprise was processed for relevant functional tests in different experimental environments.Through the recording and analysis of the experimental results,the problems of the robot were adjusted in time,and the overall test was conducted in the simulated 10 kv voltage environment.The experimental results showed that the prototype achieved the expected effect.