摘要
针对户外变电站复杂环境下巡检机器人难以保证精确的轨迹跟踪,提出一种基于无线传感器的电力巡检机器人轨迹跟踪研究。采用嵌入式控制模块的TCP通信技术对机器人远程测控,设计双磁传感器导航系统使机器人始终行驶在既定的巡检路径上,建立机器人运动数学模型通过控制指令实施操控,调整驱动轮速度控制两个驱动轮间速度差。根据定位获得当前机器人的准确位置,设定位置控制率和姿态控制率,实现巡检机器人轨迹跟踪。研究结果表明:该方法精度高、可靠性好,系统稳定性强,可为变电站设备巡检提供参考。
In the complex environment of outdoor substation,it is difficult to ensure the accurate trajectory tracking of inspection robot.In this paper,a research on trajectory tracking of power inspection robot based on wireless sensor is proposed.The TCP communication technology of embedded control module is used to measure and control the robot remotely.The dual magnetic sensor navigation system is designed to make the robot travel on the given inspection path all the time.The mathematical model of the robot motion is established.The control command is used to adjust the speed of the driving wheel and control the speed difference between the two driving wheels.According to the positioning,the accurate position of the current robot is obtained,and the position control rate and attitude control rate are set to realize the trajectory tracking of the inspection robot.The results show that the method has high precision,good reliability and strong system stability,which can provide reference for substation equipment inspection.
作者
袁兴宇
唐立军
杨家全
严玉廷
冯勇
YUAN Xing-yu;TANG Li-jun;YANG Jia-quan;YAN Yu-ting;FENG Yong(Electric Power Research Institute of Yunnan Electric Power Grid Co.,Ltd.,Kunming 650000 China)
出处
《自动化技术与应用》
2022年第7期16-20,共5页
Techniques of Automation and Applications
基金
中国南方电网有限责任公司科研项目(YNKJXM20190730)。
关键词
无线传感器
巡检机器人
轨迹跟踪
运动数学模型
自适应鲁棒滑模
wireless sensor
inspection robot
trajectory tracking
motion mathematical model
adaptive robust sliding mode
