变电站轨道式巡检机器人驱动系统设计

Design of the driving system for an orbital inspection robot in a substation

为解决变电站轨道式巡检机器人运行时转速稳定性差的问题,以控制特性较好的永磁同步电机(permanent magnet synchronous motor,PMSM)为驱动电机,设计变电站轨道式巡检机器人驱动系统,计算机器人的结构参数和运动参数,完成电机选型;结合矢量控制(field oriented control,FOC)与空间矢量脉宽调制(space vector pulse width modulation,SVPWM)策略,采用软件MATLAB Simulink搭建比例-积分-微分(proportional-integral-derivative,PID)速度-电流双闭环控制方式的PMSM驱动系统仿真模型,验证设计系统的稳定性与可靠性,搭建实物试验平台进行电机空载与带载转速试验。结果表明:采用PID速度-电流双闭环控制方式的PMSM驱动系统,变电站轨道式巡检机器人的转速稳定,工作可靠;试验结果与仿真结果吻合,满足预期设计要求,该设计方案可行。

In order to solve the problem of poor stability in the rotational speed of the track-based inspection robot in a substation,a permanent magnet synchronous motor(PMSM) with good control characteristics is used as the driving motor to design the driving system for the substation track-mounted inspection robot.The structural and motion parameters of the robot are calculated to complete the motor selection.By combining field-oriented control(FOC) and space vector pulse width modulation(SVPWM) strategies,a simulation model of the PMSM drive system is built using MATLAB Simulink software,employing a proportional-integral-derivative(PID) dual-loop control method for velocity and current.The stability and reliability of the designed system are verified,and a physical test platform is set up to conduct no-load and load speed tests on the motor.The results show that the PMSM drive system,using the PID dual-loop velocity-current control,achieves stable and reliable speed control for the substation track-mounted inspection robot.The experimental results are consistent with the simulation results,meeting the expected design requirements,and proving the feasibility of the proposed design solution.