Design And Path Tracking Control Of Intelligent Car System In 500kV Booster Station

"Artificial intelligence" is the key content in the field of science and technology in the 21st century.Robots play an important role in social production and life.At this stage,the intelligent car has been widely used in the field of power generation industry.During the inspection work of 500kV booster station,it often faces many hidden dangers.Using the intelligent car instead of manual inspection can greatly reduce the risk factor,ensure the safety of personnel and equipment,and realize the intelligent power inspection work.According to the structure characteristics and function layout of intelligent car system,this paper puts forward an intelligent control system scheme.The design content and main research are as follows:(1)Intelligent car controller design.This paper introduces the structure of the intelligent car system,and the layout of the intelligent car controller framework,mainly considering the main controller,power supply module,DC motor drive,photoelectric encoder and other structural parts,to ensure that the hardware control meets the requirements of the car system.(2)Motor control model and strategy of intelligent car.The mathematical model of DC motor is designed,the speed control of DC motor is modeled and analyzed,and the double closed-loop control system is adopted;Complete the position control design of the intelligent car and arrange a reasonable tracking system.(3)Intelligent car motion model and trajectory tracking control.According to the structure and characteristics of the kinematics model,the trajectory of the intelligent car is studied,and a reasonable tracking control system is designed to track and control the motion path of the intelligent car.(4)Image processing of vision guided intelligent car.The intelligent car is proposed to be used in a 500kV booster station of a power plant to process the visual guidance image,recognize the straight line and arc of the road and parameterize the trajectory,calculate the deviation,and control the position and pose of the car according to the deviation.(5)System debugging.Debugging the intelligent car system,pointing out the shortcomings and improving the defects.Through this design,the intelligent car of 500kV booster station realizes the expected operation function,realizes intelligent operation in a specific environment,and can execute a complete set of operation process without manual intervention or manual operation;The operation function of the intelligent car has been optimized and upgraded,and the intelligent control performance has been brought into play from the aspects of time,space and speed,including tracking and obstacle avoidance,which fully reflects the level of intelligent operation.