| Inspection is a key link in the power supply system to ensure the reliable and continuous operation of the substation.At present,the traditional inspection methods of substations have disadvantages such as high labor intensity,inconsistent inspection standards,and low inspection efficiency,and it is easy to retain potential safety hazards.Therefore,the substation inspection robot was born,it can realize all-weather uninterrupted inspection,can find abnormal conditions of equipment in the first time,and improve the real-time and accuracy of substation equipment detection.This paper studies the motion control system of existing substation inspection robots,and tracks the development status of inspection robots at home and abroad.It is found that most of the active indoor inspection robots have inaccurate positioning and excessive accumulated errors,poor control system stability,and complex control.In this paper,the navigation and positioning method adopts the odometer and the timing belt to reduce the error accumulation caused by the stepping motor out of step,slipping,etc.,and uses the least square method to calibrate the odometer to improve the positioning accuracy.The Siemens S7-1200 PLC with clear development process and stable performance is adopted as the main controller.The use of modular design methods for hardware/software design can reduce the complexity of system design and facilitate later trimming.The power supply mode adopts the power supply mode of the trolley line with low development cost,which can ensure the uninterrupted inspection of the inspection robot all-weather.The horizontal movement direction motor introduces the S-curve acceleration and deceleration control algorithm to ensure the smooth operation of the motor.The longitudinal movement adopts fuzzy PID control to improve the positioning accuracy and response speed during movement.Use Visual C++to develop and design the upper computer operating software,which can monitor the robot operating status and send and receive sensor information in real time.Finally,it cooperates with the robot body to perform system joint debugging,system function test,and positioning error test.Through the analysis of the test data,it can be obtained that the control system can meet the design requirements,and the use of odometer and timing belt can reduce the accumulation of errors.At present,the in-service automatic inspection of the indoor substations of Shanghai Metro Line 2 and Line 17 has met the requirements and passed the acceptance of Party A. |
