基于LabVIEW的变电站移动机器人轨迹跟踪虚拟仿真系统设计

Design of a Virtual Simulation System for Trajectory Tracking of Mobile Robots in Substations Based on LabVIEW

移动机器人在变电站中应用广泛,如何确保其移动轨迹准确高效,成为业内关注的重点。该文提出一种基于LabVIEW的变电站移动机器人轨迹跟踪虚拟仿真系统,以提高移动机器人的巡检效率以及轨迹运行精确度。研究系统结合遗传算法对巡检轨迹进行优化,保证机器人轨迹跟踪路径最优。同时结合分数阶模糊PID控制实现变电站移动机器人轨迹跟踪时的精确度。通过LabVIEW软件构建机器人轨迹跟踪虚拟仿真框架,并通过对比实验进行验证。实验结果表明,研究系统相比其他机器人巡检方式具有更好的稳定性以及轨迹跟踪精确性。

Mobile robots are widely used in substations,and how to ensure their accurate and efficient movement trajectory has become the focus of attention in the industry.Based on this,a virtual simulation system for trajectory tracking of mobile robots in substations based on LabVIEW was proposed to improve the inspection efficiency and trajectory operation accuracy of mobile robots.The research system combined with genetic algorithm to optimize the inspection trajectory to ensure the optimal trajectory tracking path of the robot.At the same time,combined with fractional-order fuzzy PID control,the accuracy of trajectory tracking of substation mobile robots is realized.A virtual simulation framework for robot trajectory tracking was constructed by LabVIEW software,and verified by comparative experiments.Experimental results show that the research system has better stability and trajectory tracking accuracy than other robot inspection methods.