| This paper presents the control system of the automatic inspection robot for 220KV high-voltage transmission lines, which is a national funding program (863 programs: 2002AA420110). The robot is a completely automatic inspection instrument especially for the over ground high-voltage transmission lines. It could inspect various failures of the transmission line system, like the section break, electric leakage on insulator, and loosening of antivibrator.We design a fully digital control system based on DSP, after studying the original controller of inspection robot for the high-voltage transmission lines. This system utilizes the master slaver mode with multi-processor. Embarking on the slaver processor, which has TMS320LF2407 DSP as its key part, we succeed the design by employing its two event managers (EVA and EVB) to achieve the fully digital server control of two brushless DC (direct current) motors, including control of displacement, velocity and armature current. This slaver processor performs communication with the master one via high speed field bus (CAN bus).Considering he practical needs and reliability of the system, we supplement such functions as circuit protection, system self-checking, and failures disposal. Many other measures are employed to the system to reinforce its anti-jamming capabilities, like photo electricity isolation, shielding, and one-point connect to the ground.We utilize the interrupt structure model in software designing, to realize the real time multi-task disposal capability of the system. The system could achieve preferential calling mechanism, by setting the interrupt level according to the degree of the real time demand. This system has many advantages such as excellent extensibility, high integrity, better price/performance ratio, compact frame, more stable performance, and powerful anti-electromagnetism. Function. So it could satisfy the multi-shaft control requirement of the robot. |
PDF Full Text Request