变电站巡检机器人云台控制系统

Control System of PTZ based on Substation Inspection Robot

针对常见云台预置位数量少,数据安全性不高,可扩展性不强,不能完全满足变电站巡检机器人应用要求的问题,研究了云台控制系统。提出基于内置分度器的驱动芯片,细分控制二相混合式步进电机,控制相对简单、定位精度高、稳定性好。支持坐标调用,并将位置坐标上传至监控后台,使预置位数量增加,坐标数据的安全性和易用性增强,便于进行二次开发和高级应用。经现场运行验证,应用效果良好。

In order to make the substation inspection robot long-term reliable,convenient and fast to acquire clear photos and accurate data of equipment,the control system of PTZ is researched.Aimed at the defects of the existing PTZ,two-phase hybrid stepping motor is subdivision controlled based on micro-controller and driver chip with built-in indexer.This method improves the control precision and simple control procedure.By supporting the direct coordinate calls,and uploading location coordinates to the upper computer,increase the preset position number,and improve the ease of use and position data security.The actual application effect is good.This paper mainly describes motor selection, drive mode,circuit principle and software development.