变电站巡检机器人控制系统设计

Design of control system for Substation Equipment Inspection robot

本文针对变电站设备巡检工作的实际情况,提出了一种基于嵌入式Linux操作系统的巡检机器人控制系统的软件体系结构;完成了在PC104硬件模块上的机器人控制系统的设计,介绍了本嵌入式系统软件的总体流程;给出了PMAC运动控制卡驱动程序的实现过程。现场运行试验表明,该控制系统可以真正形成全监控方式,可以大大提高变电站设备运行的安全性、可靠性和实时性。

According to the real condition of the job of the substation equipment inspection,this paper introduces a kind of software architecture of robot control system based on embeded Linux operating system;We have finished the design of the robot control system on the PC104 hardwre module board and introduced the whole flow of this embeded system software; The paper also presents the realization process of the PMAC device driver.The industrial operation of the system shows that the control system can form a kind ,of full monitor system for substation to greatly improve the safety,dependablity and reality of the substation inspection.