【作者】 李玉娟；

【导师】 张葛祥；

【作者基本信息】 西南交通大学 ， 电力电子与电力传动， 2013， 硕士

【摘要】 变电站巡检机器人是移动机器人的一种,是多种传感器信息融合、多种通信方式共同使用、多种智能控制方法共存、能够自主导航和定位、具有广阔应用前景的巡检系统。它能够在无人的情况下,对变电站的高压设备进行实时监测,及时发现电力设备的异常状况,可大幅提高变电站设备状态监测的准确性、实时性以及自动化水平。本文设计了一种变电站巡检机器人运动控制系统,主控芯片采用STM32,嵌入S曲线加减速控制算法,利用差速驱动转向实现对机器人运动状态的改变。论文主要工作及研究成果如下：1、通过对机器人运动控制工作原理进行分析,利用差速驱动转向实现对机器人运动状态的改变；深入研究加减速控制算法,通过仿真实验表明,S曲线控制算法能够实现机器人速度的平滑调节。2、对变电站巡检机器人的运动特性进行分析,得出系统运动控制的设计要求；给出系统总体设计方案：选择系统控制芯片、设计系统功能、选择驱动设备和控制器发送脉冲频率与机器人运动速度之间的关系；给出系统的设计平台和设计参数。3、对系统控制电路硬件总体方案进行了设计,主要包含STM32最小系统模块、PWM驱动电路模块、编码器接口电路模块、串口通信电路模块以及电源电路模块,对各个模块的功能进行分析和具体电路设计。4、根据系统控制电路的硬件电路设计,对软件功能模块进行划分,给出了系统控制的主流程框图。采用模块化设计的思路,对各个模块进行设计,主要包括系统运动控制功能软件、串口通信软件设计和速度计算软件设计。5、系统设计完毕后,对系统进行测试。测试围绕系统性能指标进行,主要包括系统功能测试和定位误差的测试,并对各个测试结果进行分析,得出所设计系统满足性能指标的要求。更多还原

【Abstract】 Substation inspection robot is a mobile robot, an inspection system that has a variety of sensor information fusion, uses alternately a variety of communication methods, allows the coexistence of a variety of intelligent control methods, is capable of autonomous navigation and location, and has broad application prospects. It offers real-time monitoring to substation high voltage equipement to detect the abnormal condition of the electrical equipment, which can greatly improve the accuracy, real-time and the level of automation of the substation equipment condition monitoring. This thesis presents a substation inspection robot motion control system, which uses STM32as main control chip, embeds S-shape surve acceleration and deceleration control algorithm and exploits differential drive to achieve the change of movement condition of the robot. The main research work and research production are as follows:1. Through the analysis of the motion control principle of the robot, the system uses differential drive to accomplish the changes of the motion condition of the robot; this thesis also study acceleration and deceleration control algorithm, and the simulink results shows that S-shape curve can realize the smooth regulation of the speed of the robot.2. Through the analysis of the substation inspection robot movement characteristic, the thesis achieves the design requirements; the total design scheme of the systemis given:the choice of the system main control chip、the design of system function、the choice of drive equipment and the relationship between the pulse frequency that the controller transmits and the velocity of the robot movement. The design platform and design parameter of the system is given.3. The system control circuit hardware general arrangement is designed, consists mainly of the STM32minimal system module, the PWM driving circuit module, interface circuit module of the encoder, serial communication circuit module and the power supply circuit module. The thesis also analyses the function of each module and designs the specific circuit.4. According to the system control circuit hardware design, every software function module is analysed. The thesis gives the main control flow block diagram, and designs each module, including control system motion control software design, algorithm software design, speed calculation software design and serial communication software design.5. When the system design is finished, system should be tested. According to the design requirements and desing parameter, the test mainly includes the test of the function of the system and the test of positioning error. Through the analysis of the test results, we can come to that the system meets the relevant design requirements.更多还原