The Design And Realization Of Substation Inspection Robot Motion Control System Based On STM32

Substation inspection robot is a mobile robot, an inspection system that has a variety of sensor information fusion, uses alternately a variety of communication methods, allows the coexistence of a variety of intelligent control methods, is capable of autonomous navigation and location, and has broad application prospects. It offers real-time monitoring to substation high voltage equipement to detect the abnormal condition of the electrical equipment, which can greatly improve the accuracy, real-time and the level of automation of the substation equipment condition monitoring. This thesis presents a substation inspection robot motion control system, which uses STM32as main control chip, embeds S-shape surve acceleration and deceleration control algorithm and exploits differential drive to achieve the change of movement condition of the robot. The main research work and research production are as follows:1. Through the analysis of the motion control principle of the robot, the system uses differential drive to accomplish the changes of the motion condition of the robot; this thesis also study acceleration and deceleration control algorithm, and the simulink results shows that S-shape curve can realize the smooth regulation of the speed of the robot.2. Through the analysis of the substation inspection robot movement characteristic, the thesis achieves the design requirements; the total design scheme of the systemis given:the choice of the system main control chip、the design of system function、the choice of drive equipment and the relationship between the pulse frequency that the controller transmits and the velocity of the robot movement. The design platform and design parameter of the system is given.3. The system control circuit hardware general arrangement is designed, consists mainly of the STM32minimal system module, the PWM driving circuit module, interface circuit module of the encoder, serial communication circuit module and the power supply circuit module. The thesis also analyses the function of each module and designs the specific circuit.4. According to the system control circuit hardware design, every software function module is analysed. The thesis gives the main control flow block diagram, and designs each module, including control system motion control software design, algorithm software design, speed calculation software design and serial communication software design.5. When the system design is finished, system should be tested. According to the design requirements and desing parameter, the test mainly includes the test of the function of the system and the test of positioning error. Through the analysis of the test results, we can come to that the system meets the relevant design requirements.