【作者】 张玮；

【导师】 曲兴田；

【作者基本信息】 吉林大学 ， 机械工程， 2011， 硕士

【摘要】 高压输电线路的巡检是一项危险性大、劳动强度大、涉及面广的电力作业任务。迄今为止,主要依靠巡检人员沿线执行检测任务,成本高、效率低、误检漏检率大。巡线机器人提供了一套机器人作业系统,代替检测人员对线路进行检测和维护,提高了线路的管理和维护水平。巡线机器人需要容纳多个模块,如电机、扫描器、控制板、无线模块、电源模块等,体积比较庞大。在其巡线的过程中,由于天气、机器人运行、高压线摆动与舞动等原因,使得应用于机器人系统的光学探测设备不能稳定的对需要探测的目标给予详细探测。从而影响了高压机器人巡线的质量,不能顺利完成对高压线路的图像采集,很难完成预定任务。本文重点研究视轴稳定技术,物体凝视跟踪技术,主要包括被动减振和惯性稳定技术,精确跟踪与自适应调整伺服技术。惯性稳定环节是一个闭环伺服控制系统,伺服系统由直流力矩电机驱动,惯性陀螺仪做稳定探测。本文设计了电流环硬件PI调节电机驱动电路和以DSP为主控器件的的控制电路。为提高系统伺服带宽,本论文采用三环控制,为电流环、速度稳定环、位置环,电流环由硬件固化在驱动电路中。考虑到硬件实际需要和系统可靠性,扩展了电路保护功能、系统自检功能、各种故障处理功能,系统还采取了其他措施增强系统抗干扰能力,例如光电隔离、屏蔽、一点接地等措施。软件方面,稳定环采用了神经网络PID控制器,跟瞄系统采用双输入双输出耦合神经网络控制方式,对比传统神经网络控制方式单独控制方位/俯仰轴,此种方式对两轴耦合运动产生的非线性存在明显补偿作用。论文最后建立了系统的数学模型以及验证实验,并对各种稳定方法及跟踪方法做了对比和仿真,仿真结果证实了新型控制算法在巡线机器人视觉系统中用具有良好的性能可满足巡线机器人视觉稳定跟踪系统二轴控制的需要。更多还原

【Abstract】 High-voltage transmission line inspection is a dangerous, labor-intensive, involving a wide range of electrical work tasks. So far, mainly rely on inspection personnel perform inspection tasks along the high cost, low efficiency, leak check error rate is high. Line inspection robot provides a robot operating system, instead of testing personnel for line testing and maintenance, improved management and maintenance of the line level.Inspection robot needs to accommodate multiple modules, such as motors, scanners, control panel, wireless module, power module, the volume is relatively large. In the course of its transmission line, due to the weather, the robot is running, high-voltage swing and dance and other reasons, making the robot system used in the optical detection equipment interference.This paper focuses on the visual axis stabilization technology, object gaze tracking technology, including passive damping and inertial stabilization technology, precision tracking and adaptive servo technology. Stable part of the inertia, the paper designed a current loop PI regulator motor drive circuit hardware and DSP-based controller parts of the control circuit. To improve the system servo bandwidth, this paper uses three-ring control for the current loop, velocity loop stability, position loop, current loop driven by the hardware circuit in curing. Taking into account the actual needs of the hardware and system reliability, extend the circuit protection, the system self-test function, a variety of fault-handling capabilities. In addition, the system has also taken other measures to enhance the anti-jamming capability, such as optical isolation, shielding, grounding and other measures point. Software, using a neural network PID controller, there are many more advantages of the traditional PID controller, and do the relevant discussion.Finally, the paper established a mathematical model and system verification experiments, and various methods of stabilization and tracking methods was compared and simulation results confirm that the new control algorithm in robot vision system using transmission line has a good performance to meet the patrol line robot vision stable two-axis tracking system control needs.更多还原