超高压带电清扫机器人控制系统设计

Control System Design Of High-voltage Hot-line Sweeping Robot

针对国家863资助项目超高压带电清扫机器人的技术要求,设计了一套基于飞斯卡尔S12单片机和西门子S7-200可编程控制器的上下位机控制系统。上位机系统以S12单片机为主要控制部件,矩阵式键盘为输入器件,一块64×16点阵式发光二极管显示屏为显示器件,用于对下位机进行控制和监测。下位机主要由S7-200PLC及其扩展模块组成,用于接收上位机的控制信息和控制机器人各机构的动作。上下位机间通过无线数据传输模块F29DM进行无线通信。通过对系统的设计和上下位机程序的调试,该系统能安全稳定地对机器人进行遥控操作和监控。

According to the technical requirements of High Line Cleaning Robot,which is founded by national ＂863＂Foundation,the paper designed a master/slave communication and control system,which is based on S12 single chip and S7-200 Programmable Logic Controller（ PLC ）. S12 single chip is the controller of the master control system, and a matrix keyboard is the input part of the system,a 64×16 matrix Light Emitting Diode （LED） is the display part of system. The master control system is used to control and watch the slave control system. S7-200PLC and its expanded part make up of the slave control system. The slave system is used to receive the control information from the master system and control the movements of the robot. Between the communication of master and slave system ,wireless data transmitter-receiver F29DM is used. After the debugging of master/slave system programming,the system can control and Monitor the robot safely.