| The inspection work of high-voltage transmission lines is not only related to the power supply security of millions of households, but also the "artery" of national infrastructure and social development. As a new inspection method, Compared to others, inspection robot has the advantages of high precision, high efficiency, good adaptability, low cost and the ability to carry devices. Most of the inspection robot research institutions at home and abroad can only work between the two towers. And it is always the hard problem that identifying and spanning the obstacles on the line.More than that, most control system is based on the combination of PC 104 and motion control card,which has the disadvantages of poor processing performance,poor scalability, large power consumption performance and so on.In this project, a novel tribrachiation overhead transmission line inspection robot is developed. The hardware and software design of the robot control system is completed, and the control experiments for spanning obstacles process are carried out to verify the effectiveness of the control system. The main completed tasks in this paper are as follows:Part one: This part clarified the requirements of this project and the technical difficulties of the inspection robot research, extracted the size characteristics of obstacles. According to the way of man's walking on the wire, the motion scheme and the spanning obstacles method of inspection robot are designed, and then the mechanism is proposed.Part two: Based on the concept of hierarchical control, this paper presents a complete hardware configuration for the inspection robot control system, which applies double processor structure, dual remote method and distributed control form.And then, an obstacles three-level recognition scheme is proposed, which allows the robot to progressively decelerate from 3m in front of the obstacle until it stops at the 10cm.Part three: a modular software system is proposed, which applies hierarchical theory. In order to the timely diagnosis and repair for the robot breakdowns,this system adds the diagnostic processing layer with the breakpoint recovery program. To ensure the rigor and scalability of the software, the communication mechanism and action decomposition mechanism is designed for the software of ARM side,and the task will be subdivided into the individual action "cell". At the same time, the software of robot PC and ground PC, the software of handheld remote and the user interface are designed.Part four: based on the control system we designed, control experiments of the spanning obstacles motion are carried out. The motion of spanning obstacles is simplified. And then, kinematics modeling and dynamic modeling is established.Considering external disturbance and tracking errors, the robust adaptive PD control method is adopted for solving the trajectory tracking problem. In order to validate this method, the traditional PD control method is added. After the simulations bySimulink and the experiments on real line, it is certified that the trajectory of bothmethods is very close to the target trajectory. Compared with two methods by the tracking trajectory, the validity, stability and superiority of the adopted method are verified. And it also verified the correctness and feasibility of the control system. |
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