Research On Wheel Inspection Robot Navigation Control Algorithm And Design Of Experiment Platform

With the development of automation, communication, computer and other high-techadvanced technology, as well as the reformation of Chinese electric power system deeply,automation degree of electric power system becomes more and more advanced. Insubstation, the monitoring of some important electrical equipment is necessary. Thetraditional inspection workload is strenuous, because the inspection personnel quality,technical level, work experience and other condition uneven, the inspection is not in place.Therefore, the substation inspection robot arises at the historic moment. Among keytechnology of inspection robot, navigation is the priority. If there is no safe and reliablenavigation, robot will be unable to travel and inspect. As a result, it designed andimplemented multiple sets of positional PID adaptive control algorithm, which is based onvision navigation and electromagnetic navigation in the environment of the substation. Themain content of the paper could be presented as follows:(1) The construction of the system hardware and software platform is introduced.According to the actual needs of inspection robot, elaborate work process of the inspectionrobot system and function of each module. And then introduce the software architecture ofthe system.(2) The characteristics of the structure of the robot is analyzed, and do kinematicsanalysis according to its structural characteristics of robot, set up the kinematics equationsof the robot. Combined with the kinematics model of the robot, elaborate vision andelectromagnetic guide line identification.(3) The whole design of the inspection robot navigation system is introduced. Thetraditional PID algorithm and the adaptive control algorithm is integrated, combine thecharacteristic of substation inspection robot navigation, design multiple sets of positionalPID adaptive control algorithm, and apply to the inspection robot navigation control.(4) Test and analysis on the navigation performance of the robot in the transformersubstation and indoors. The results show that the robot can finish navigation and inspectiontasks efficiently and safely.After completion of the project design, the robot has been installed in the220KVhigh-voltage substations, and it can satisfy the requirements of the inspection.