变电站巡检车运动控制系统的研究

发布时间：2019-02-10 18:41

【摘要】：我国电力行业是关系到国计民生的重大支柱产业,而变电站是输电网的枢纽,变电站设备巡检工作在保证变电站正常生产,安全运行方面占有极其重要的地位。传统的变电站巡检方式多采用人工巡检的方式。但是,人工巡检效率低,强度大,变电站环境恶劣,人身安全和巡检结果的可靠性得不到保障。为了解决上述问题,通过对国内外变电站智能巡检的对比和分析,设计出了一种高效,安全,能充分替代人工巡检的变电站巡检车,用以完成变电站巡检任务。本设计中的变电站无人巡检车采用三轮式机械机构,即以两边差速轮和一个惰性轮为支撑,利用主控系统控制两个轮毂电机差速行驶。并采用GPS接收器为其接受路径经纬度信息,与预设路径的经纬度比较后得出控制量,分析计算后由主控制器控制轮毂电机转动完成相应的直行,转弯,转圈,刹车等一系列的运动。还辅以超声波避障系统来避免障碍物相撞。变电站巡检车的硬件设计中包括：电源模块,STM32主控制器模块,电机驱动模块,速度检测模块。数据传输模块,过流欠压保护模块等等。巡检车运动控制算法采用了时间最优PID控制算法和灰色PID控制算法,分别应用于无刷直流电机调速,巡检车转向控制中。巡检车软件设计中。选取了面向智能体的编程思想,应用于主模块和子模块的设计当中。最后,通过对变电站无人巡检车的调速及转向的仿真及调试,得到了一个稳定可靠,安全高效,快速灵敏的巡检车运动控制系统,维护了变电站的安全生产,安全运营,使得高效节能,准确无误的巡检工作得以充分实现。
[Abstract]:The electric power industry of our country is a major pillar industry related to the national economy and the people's livelihood, and the substation is the hub of the transmission network. The inspection and inspection of substation equipment plays an extremely important role in ensuring the normal production and safe operation of the substation. The traditional way of substation inspection is manual inspection. However, the manual inspection efficiency is low, the intensity is large, the substation environment is bad, the personal safety and the reliability of the inspection result can not be guaranteed. In order to solve the above problems, through the comparison and analysis of the intelligent inspection of substations at home and abroad, a high efficiency, safe and sufficient substitute for manual inspection is designed to complete the task of substation inspection. In this paper, a three-wheeled mechanical mechanism is used to control the differential speed of two hub motors, which is supported by two differential wheels and an inert wheel, and the main control system is used to control the differential speed of the two hub motors. The GPS receiver is used to receive the latitude and longitude information of the path, and the control quantity is obtained by comparing with the latitude and longitude of the preset path. After analysis and calculation, the hub motor is controlled by the main controller to complete the corresponding straight line, turn and turn. A series of movements, such as brakes. An ultrasonic barrier avoidance system is also used to avoid collision. The hardware design of substation inspection vehicle includes: power supply module, STM32 main controller module, motor drive module, speed detection module. Data transmission module, overcurrent undervoltage protection module and so on. Time optimal PID control algorithm and gray PID control algorithm are adopted in the motion control algorithm of patrol vehicle, which are applied to the speed regulation of brushless DC motor and the steering control of patrol vehicle, respectively. Inspection vehicle software design. The agent-oriented programming idea is selected and applied to the design of main module and sub-module. Finally, through the simulation and debugging of the speed regulation and steering of the unmanned inspection vehicle in the substation, a stable, reliable, safe and efficient, fast and sensitive motion control system of the inspection vehicle is obtained, which maintains the safe production and safe operation of the substation. So that efficient and energy-saving, accurate inspection work can be fully realized.
【学位授予单位】：西安工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;TM63

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