一种架空导线巡检机器人的运动控制系统

Motion Control System for Overhead Transmission Line Inspection Robot

为了提高架空导线巡检机器人的运动精度和相对定位能力,设计了一种用于架空导线巡检机器人的运动控制系统。该系统包括机载运动控制器和地面远程控制终端2部分,运动控制器采用工控机+STM32底层控制板双核心结构。为了减少机器人运动中可能出现的冲击,在控制器设计中引入S型加减速控制算法。通过引入梯形积分方法,提高了里程计算精度。经过实物平台验证,证明所设计的运动控制系统有较高的运动与定位精度,能够满足巡检机器人的工作需求。

In order to improve the motion accuracy and relative positioning ability of the overhead transmission line inspection robot,a motion control system was developed for the overhead transmission line inspection robot.The system included two parts,the motion controller on the robot and the remote controller on the ground.The motion controller adopted a dual core structure including an industrial computer and a STM32 control panel.In order to reduce the possible impact in the robot movement,an S-type acceleration/deceleration control algorithm was introduced in the controller design.A trapezoidal integration method was introduced to improve the accuracy of mileage calculation.The experimental results show that the motion control system has high motion and positioning accuracy,which meets the working requirements of the inspection robot.