Control Strategy And Control System Design Research Of A Multi-unit Series Inspection Robot

With the development of society,more and more robotic technology is applied in people's daily work and life.As a special robot that can replace the manpower in difficult environments,the high-voltage transmission line inspection robot will surely receive more and more attention.When the high-voltage transmission line inspection robot conducts inspection work on the autonomous travel of the high-voltage line,it must cross the various power fittings existing on the transmission line,which gives the structural design requirements of the high-voltage line inspection robot,and the obstacle process planning and control system design brings a series of difficulties and problems.Therefore,this paper designs a control strategy method suitable for high-voltage line inspection robots and a corresponding control system based on a multi-unit tandem inspection robot that participates in the design,combined with its structural characteristics and work requirements.The prototype was tested and verified to be effective and feasible.The main research contents of this paper are as follows:Firstly,the specific working environment of the high-voltage line inspection robot and the type of power fittings are analyzed.The structure of the multi-unit tandem inspection robot is also analyzed and kinematically analyzed.The D-H model is established by MATLAB to analyze its working space.Secondly,combined with the finite state machine theory,the hierarchical planning control strategy analysis of the robot is divided into the line information database layer,the action planning layer and the execution planning layer.The line information base layer is obtained based on known information on the high-voltage transmission line to be detected,including information such as obstacle type,location,quantity,and the like.The overall action planning layer and the execution planning layer are summarized according to the finite state machine theory.When the input event is a(the second layer action planning layer),under the action of f(the third layer execution planning layer),the state q(the robot starts from The initial state is mapped to the state p(the robot termination state).Inverse kinematics and trajectory planning are also performed for each joint angle.Then,according to the robot's body structure and work tasks,the control system design and hardware selection are completed and the control system is completed.The mathematical model of the transmission part of the robot and DC servo motor is further analyzed,and the corresponding relationship between the joint angle and the motor speed is obtained.The Keil uVision5 software is also used in C language to program the robot's motion mode.Finally,the trajectory planning and motion process of the robot are simulated by MATLAB.The experimental platform was built on the robot in the laboratory.The design experiment measured some parameters of the robot and verified that the control strategy and control system of this paper are effective and feasible.