架空输电线智能巡检机器人控制系统设计
发布时间：2018-12-11 01:28
【摘要】：架空输电线路的巡检工作关系到千家万户的供电保障,更是国家基础建设和社会发展的“动脉”。巡检机器人作为新型的巡检方法,具有精度高、效率高、适应性强、费用低和可携带设备等优点。国内外研究机构的巡检机器人多数只能处于两塔之间,识别及跨越线上障碍始终是难题,控制系统大多采用PC104和运动控制卡组合,有处理性能不高、扩展性差、耗电量大等缺点。本课题自主研发了新型三臂式巡检机器人,本文完成了此机器人控制系统的软硬件设计,并对跨障过程这一难点进行控制实验,验证控制系统的有效性。主要完成的工作如下:1、阐明项目要求及巡检机器人研发的技术难点,提取障碍物尺寸特征,结合人在钢丝行走的方式设计巡检机器人的运动方案和跨障方案,然后提出本文巡检机器人机构方案。2、采用分层递阶控制概念,提出一套完整的巡检机器人控制系统硬件方案,有互补协作的双处理器结构、双遥控方式和分布式控制形式等特点。提出障碍物三级识别方案,让机器人从障碍物3m前三级减速直至停止于前10cm处。3、提出一套模块化的软件系统,采用分层设计,为确保故障及时诊断修复,添加带有断点重启程序的诊断处理层。为保证软件的严谨性和可伸缩性,ARM端设计结构体通信机制和动作分解机制,将任务细分到最单个的动作“细胞”。同时,设计了工业PC和地面PC上位机、手持遥控器的软件和用户操作界面。4、应用所设计的控制系统,针对跨障运动过程进行控制实验。简化了此巡检机器人的跨障运动过程,建立了此过程的运动学模型和动力学模型。采用鲁棒自适应PD控制方法对跨障运动轨迹进行跟踪控制,为验证此方法,加入传统PD控制方法进行对比。通过Simulink仿真和实际测试,结果显示它们的控制轨迹都非常接近目标值。从跟踪轨迹上证明了所采用方法的有效性、稳定性和优越性,也验证了此控制系统的正确性和可行性。
[Abstract]:The inspection of overhead transmission lines is related to the power supply guarantee of thousands of households, and is also the artery of national infrastructure and social development. As a new inspection method, the robot has the advantages of high precision, high efficiency, strong adaptability, low cost and portable equipment. Most of the inspection robots of domestic and foreign research institutions can only be located between two towers, so it is always a difficult problem to identify and cross the obstacles on the line. Most of the control systems adopt the combination of PC104 and motion control card, which have low processing performance and poor expansibility. Power consumption and other shortcomings. In this paper, the software and hardware design of the robot control system is completed, and the control experiment is carried out to verify the effectiveness of the control system. The main works are as follows: 1. The requirements of the project and the technical difficulties of the research and development of the inspection robot are expounded, the characteristics of the obstacle dimensions are extracted, and the motion scheme and the cross obstacle scheme of the inspection robot are designed in combination with the human walking mode in the steel wire. Then, the mechanism scheme of inspection robot is put forward. 2. By using the concept of hierarchical control, a complete hardware scheme of inspection robot control system is proposed, which has a complementary and cooperative dual-processor structure. Dual remote control and distributed control. In this paper, a three-level obstacle identification scheme is proposed, which makes the robot slow down from 3 m to stop at the front 10cm. 3. A modular software system is proposed, which adopts layered design to ensure timely fault diagnosis and repair. Add diagnostic layer with breakpoint restart program. In order to ensure the preciseness and scalability of the software, the communication mechanism and the action decomposition mechanism of the structure are designed on the ARM side, and the task is subdivided into the single action "cell". At the same time, the software and user interface of industrial PC and ground PC host computer, handheld remote controller and user interface are designed. 4. The control system is applied to control the process of cross-barrier motion. The kinematics model and dynamic model of the inspection robot are established. Robust adaptive PD control method is used to track and control the motion trajectory of the obstacle. To verify this method, the traditional PD control method is added to compare it. Through Simulink simulation and actual test, the results show that their control trajectory is very close to the target value. The effectiveness, stability and superiority of the proposed method are proved from the tracking track, and the correctness and feasibility of the control system are also verified.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2371602
[Abstract]:The inspection of overhead transmission lines is related to the power supply guarantee of thousands of households, and is also the artery of national infrastructure and social development. As a new inspection method, the robot has the advantages of high precision, high efficiency, strong adaptability, low cost and portable equipment. Most of the inspection robots of domestic and foreign research institutions can only be located between two towers, so it is always a difficult problem to identify and cross the obstacles on the line. Most of the control systems adopt the combination of PC104 and motion control card, which have low processing performance and poor expansibility. Power consumption and other shortcomings. In this paper, the software and hardware design of the robot control system is completed, and the control experiment is carried out to verify the effectiveness of the control system. The main works are as follows: 1. The requirements of the project and the technical difficulties of the research and development of the inspection robot are expounded, the characteristics of the obstacle dimensions are extracted, and the motion scheme and the cross obstacle scheme of the inspection robot are designed in combination with the human walking mode in the steel wire. Then, the mechanism scheme of inspection robot is put forward. 2. By using the concept of hierarchical control, a complete hardware scheme of inspection robot control system is proposed, which has a complementary and cooperative dual-processor structure. Dual remote control and distributed control. In this paper, a three-level obstacle identification scheme is proposed, which makes the robot slow down from 3 m to stop at the front 10cm. 3. A modular software system is proposed, which adopts layered design to ensure timely fault diagnosis and repair. Add diagnostic layer with breakpoint restart program. In order to ensure the preciseness and scalability of the software, the communication mechanism and the action decomposition mechanism of the structure are designed on the ARM side, and the task is subdivided into the single action "cell". At the same time, the software and user interface of industrial PC and ground PC host computer, handheld remote controller and user interface are designed. 4. The control system is applied to control the process of cross-barrier motion. The kinematics model and dynamic model of the inspection robot are established. Robust adaptive PD control method is used to track and control the motion trajectory of the obstacle. To verify this method, the traditional PD control method is added to compare it. Through Simulink simulation and actual test, the results show that their control trajectory is very close to the target value. The effectiveness, stability and superiority of the proposed method are proved from the tracking track, and the correctness and feasibility of the control system are also verified.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关期刊论文 前10条
1 杨凌霄;李晓阳;;基于卡尔曼滤波的两轮自平衡车姿态检测方法[J];计算机仿真;2014年06期
2 杨坤;黄心汉;毛尚勤;;基于四层架构的微装配机器人控制软件设计[J];华中科技大学学报(自然科学版);2013年S1期
3 杨德伟;冯祖仁;张翔;;新型三臂巡线机器人机构设计及运动分析[J];西安交通大学学报;2012年09期
4 毛吉贵;白玉成;肖清明;吴功平;;基于双总线构架的巡线机器人分布式控制系统[J];武汉大学学报(工学版);2012年03期
5 白好杰;唐大放;曹建斌;;机械手鲁棒自适应PD控制[J];机械传动;2011年11期
6 徐显金;吴功平;钟飞;刘明;曹琪;徐青山;李胜邦;;巡检机器人的主控软件设计与实现[J];武汉大学学报(工学版);2011年05期
7 王鹏;刘锋;梅生伟;王克非;;高压输电线巡线机器人控制体系构建及动作控制器设计[J];清华大学学报(自然科学版);2011年07期
8 张廷羽;张国贤;金健;;高压线巡检机器人动力学建模及分析[J];系统仿真学报;2008年18期
9 周风余;李贻斌;李峰;王常顺;;高压输电线巡检机器人在线断股检测与诊断系统[J];电力系统自动化;2008年14期
10 周风余;吴爱国;;架空输电线路自动巡线机器人[J];农村电气化;2008年02期
相关会议论文 前1条
1 吴功平;李诚;马玉林;郭开学;李胜邦;熊启新;;高压电网巡检机器人研究及应用综述[A];2009年全国输变电设备状态检修技术交流研讨会论文集[C];2009年
相关博士学位论文 前2条
1 李正;高压输电线路自主巡检机器人的研究[D];上海大学;2013年
2 周风余;110kV输电线路自动巡检机器人系统的研究[D];天津大学;2008年
，本文编号：2371602
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2371602.html
