| The national economy and people’s livelihood associated power industry is very important in our country, and its affiliates transforming plant is the key part of the transmission grid. Therefor, the inspection equipment of transmission grid occupies an extremely important part in the safe operating and proper functioning of the transmission grid. While, the traditional inspection equipment of transmission grid is often finished by human beings themselves. The low efficiency, high labor intensity and the harsh circumstances can’t guarantee the human safety, the reliability and the correctness of the inspection result. To solve the above problems, we analyzed the intelligent transmission grid inspection vehicles at home and abroad, and designed a safe and efficient inspection vehicle which can finish transmission grid inspection instead of human beings.The unmanned transmission grid inspection vehicle adopts three wheels mechanical structure, including two differential wheels and one inertia wheel, in which the two differential wheels are controlled by two different motors, and the motors are further controlled by the control system at different speed. Besides, the system adopted GPS receiver to indicate the latitude and longitude of the vehicle, and the information will be compared with the path designed in advance, then the controller will provide the controlled quantity to drive the vehicle to go straight, turn left, turn right, brake or a series of corresponding operations. And beyond that the system employed the ultrasonic obstacle avoidance system to avoid any possible crashes of the vehicle. While, the system hardware design includes the power module, the STM32 controller module, the motors control module, the velocity measurement module, the data transmission module, the over-current and under-voltage protection module, and so on. The control algorithm of the inspection vehicle adopts the time optimal PID control algorithm and the grey PID control algorithm which applied in the BLDC motor speed control and steering control of the system. The system software design employed the agent-oriented programming regulations and that is successfully applied in the main module and the submodule of the system.Finally, the simulation and debugging of the speed control and steering control of the transmission grid unmanned inspection vehicle received very good performance of stability, reliability and sensitivity. And the safe, efficient and quick-witted inspection vehicle efficiently reduced the energy consumption, correctly finished the unmanned inspection and ideally maintained the safety and smooth operation of the transmission grid. |
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