摘要
为了满足海上升压站自动化巡检的需求,设计了一种基于STM32的挂轨式巡检机器人控制系统。该系统采用网络节点模式,将控制系统分为行走升降分系统和云台传感分系统。系统采用STM32F4微处理器,集成H桥驱动、电流采样、编码器信号解析、网络通信、串行通信等电路完成对挂轨机器人的运动控制和传感器信号处理。采用速度-位置双闭环的控制算法提高机器人定位精度和响应速度,并为上层用户提供运动或位置两种控制模式。为便于控制系统的功能开发,分别设计了电机调试软件和功能测试软件。实验表明设计的系统控制的机器人具有较高的定位精度、响应性和可靠性。
In order to meet the needs of auto-inspection of offshore substation,a rail type inspection robot control system based on STM32 was designed.This control system was constructed with network nodes,and divided into walk-lifting subsystem and PTZ-sensing subsystem.The system used STM32F4 microprocessor,integrated H-bridge drive,current sampling,encoder resolution,Ethernet module,serial communication and other circuits to complete the motion control and sensors processing of the rail type robot.A speed-position double closed-loop control algorithm was used to improve the positioning accuracy and response speed of the robot,and two different control modes of motion or position were provided for the upper users.In order to facilitate the development process of the control system,a motor debugging software and functional test software were designed respectively.Experiments show that this robot control system has high position accuracy,responsibility and reliability.
作者
范亚南
苏冠明
王增光
张风奇
FAN Ya-nan;SU Guan-ming;WANG Zeng-guang;ZHANG Feng-qi(Luoyang Institute of Electro-Optical Equipment,AVIC,Luoyang 471009,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2022年第4期69-74,共6页
Instrument Technique and Sensor
