基于STM32的输电线路封网作业车控制系统研究与实现

Research and Implementation of Control System for Transmission Line Closure Operator Based on STM32

为了代替人工完成输电线路封网作业,设计了一种以STM32F103VET6单片机为控制核心,通过压力传感器、光电编码器、陀螺仪分别测量封网作业车对导线压力、移动距离和俯仰角的输电线路封网作业车。该封网作业车使用LoRa无线通信实现远程遥控和数据传输。通过STM32进行PID数据运算和处理,输出PWM驱动脉冲,经电机驱动电路,实现封网作业车在承载绳上稳定行走,同步封网。多次测试结果表明:基于STM32的输电线路封网作业车控制系统功能逻辑完整,实现在导线上同步移动,拖曳封网装置完成封网作业,可代替人工完成输电线路封网作业任务。

In order to replace manual transmission line sealing operation,a transmission line sealing operation vehicle is designed a STM32F103VET6 microcontroller is the control core,and the pressure sensor,photoelectric encoder and gyroscope are used to measure the pressure,moving distance and pitch Angle of the transmission line sealing operation vehicle to the wire.The vehicle uses LoRa communication to realize remote control and data transmission.PID data calculation and processing are carried out by STM32,and PWM driving pulse is output.Through the motor driving circuit,the network sealing operation vehicle is able to walk stably on the bearing rope and synchronously seal the network.Multiple test results indicate that the control system of the transmission line sealing operation vehicle based on STM32 has complete functional logic.It is able to move synchronously on the wire,complete the network sealing operation by towing the network sealing device,and can replace manual transmission line sealing operation.