Research On The Motion Control System Of Electric Power Inspection Robot

Substation is an important infrastructure in the power system.Regular safety inspections of substations to identify safety hazards are the main approach to ensure the safe operation of the power system.In recent years,with the accelerated development of China’s economy,the demand for electricity has increased accordingly.To meet the needs of industrial,agricultural,and residential electricity consumption,the country has been constructing power grids on a large scale,resulting in an increasing scale of substations.This has also increased the daily workload of safety inspection personnel for substations,especially in terms of relying on sensory perception and experience of safety inspection personnel to judge safety accidents,there are shortcomings such as safety hazards and low work efficiency.Power inspection robots are intelligent mobile robots that integrate multiple sensors,control methods,and communication functions,and have autonomous navigation and path planning capabilities.Even in unmanned conditions,robots can monitor substation equipment,power plant equipment,etc.,and efficiently and real-time detect faulty equipment.Although power inspection robots have been used in substations in some areas of China,the application of intelligent robots has been limited to some extent due to constraints of operational space,poor obstacle recognition capabilities,and low stability.Therefore,it is necessary to develop a robot system that is easier to control,more stable,and easier to operate to meet the needs of substation inspection.This article presents a comprehensive design scheme for an electric power inspection robot,taking into account the current power system environment and the characteristics of substation inspections.The robot’s physical structure was designed using CAD software,and the hardware design of the robot system was completed using Altium Designer software.The software composition of the system was designed and written using Keil μVision5 software.The ultimate goal was to achieve remote wireless control of the robot and enable its two-dimensional motion,meeting the requirements for practical applications.The specific research content is as follows:Firstly,an analysis was conducted to compare different algorithms,such as trapezoidal,exponential,and S-curve acceleration and deceleration algorithms,to determine which algorithm would result in smoother robot motion.Simulation results indicated that the S-curve acceleration and deceleration control algorithm can achieve smooth and stable robot motion.Secondly,based on the study of the robot’s motion posture in power inspection scenarios,a general design scheme for the motion system was proposed.This included designing the expected functionalities of the system and establishing the relationships among different system components.The hardware layout and circuit design of the motion control system were also developed,which encompassed the STM32 minimum system,PWM drive unit,encoder interface,and level conversion unit.A system architecture diagram was created,and corresponding circuits for each unit and function were designed.The software part of the system was divided into different functional modules based on the hardware composition.The design followed a modular approach,including modules for system motion control,algorithm control,velocity calculation,and serial communication.Finally,the system was subjected to analysis and testing to evaluate its performance against predefined performance indicators.