Research On A Robot Control System System For Underground Power Tunnel

With the rapid development of smart cities,urban electricity consumption increases rapidly,and the workload of cable line maintenance increases sharply.Underground tunnels are mainly used to lay cables in dense residential areas of the city.Underground tunnel cable lines need regular inspection to ensure reliable and safe urban power supply.The traditional inspection method is mainly manual inspection.With the expansion of the cable tunnel scale,it is difficult to realize fast and effective inspection by manual inspection,and the poor internal environment of cable tunnel makes it difficult to guarantee the personal safety of inspection personnel.Therefore,the cable tunnel robot instead of manual inspection has important application research value.Based on the research and development of "inspection robot for underground cable tunnel" project of power science research institute of Chongqing electric power company of state grid,this paper carries out research work.Underground cable tunnel inspection robot technology at home and abroad were studied,according to the Chongqing electric power company the actual demand,the underground cable tunnel inspection for cable tunnel carried on the thorough analysis of the internal environment.Combining with the inspection requirements of inspection robot performance indicators,the overall structure of the inspection robot for the cable tunnel design,the principle of kinematics,dynamics,movement to inspection robot chassis when marching level roads and climbing state has carried on the theoretical analysis and simulation study,using the Newton-Euler method of manipulator dynamics analysis,and simulation research,completed the sport chassis and the mechanical structure design of mechanical arm.Motion control characteristics of the inspection robot based on the chassis,the double closed loop PID control strategy,through sports chassis mechanical system and control system simulation model simulation verification,needs to control the mechanical arm,the proposed dual closed-loop PID control strategy based on feedforward compensation,through the machinery arm system and joint control system simulation model for the simulation.The hardware and software design of the control system are completed,and the prototype of the cable tunnel robot is developed.Through the test,the rationality and reliability of the design of robot chassis,cradle head mechanical arm and control system are verified,which basically meet the requirements of cable tunnel inspection.