【摘要】：我國(guó)電力行業(yè)是關(guān)系到國(guó)計(jì)民生的重大支柱產(chǎn)業(yè),而變電站是輸電網(wǎng)的樞紐,變電站設(shè)備巡檢工作在保證變電站正常生產(chǎn),安全運(yùn)行方面占有極其重要的地位。傳統(tǒng)的變電站巡檢方式多采用人工巡檢的方式。但是,人工巡檢效率低,強(qiáng)度大,變電站環(huán)境惡劣,人身安全和巡檢結(jié)果的可靠性得不到保障。為了解決上述問題,通過對(duì)國(guó)內(nèi)外變電站智能巡檢的對(duì)比和分析,設(shè)計(jì)出了一種高效,安全,能充分替代人工巡檢的變電站巡檢車,用以完成變電站巡檢任務(wù)。本設(shè)計(jì)中的變電站無人巡檢車采用三輪式機(jī)械機(jī)構(gòu),即以兩邊差速輪和一個(gè)惰性輪為支撐,利用主控系統(tǒng)控制兩個(gè)輪轂電機(jī)差速行駛。并采用GPS接收器為其接受路徑經(jīng)緯度信息,與預(yù)設(shè)路徑的經(jīng)緯度比較后得出控制量,分析計(jì)算后由主控制器控制輪轂電機(jī)轉(zhuǎn)動(dòng)完成相應(yīng)的直行,轉(zhuǎn)彎,轉(zhuǎn)圈,剎車等一系列的運(yùn)動(dòng)。還輔以超聲波避障系統(tǒng)來避免障礙物相撞。變電站巡檢車的硬件設(shè)計(jì)中包括：電源模塊,STM32主控制器模塊,電機(jī)驅(qū)動(dòng)模塊,速度檢測(cè)模塊。數(shù)據(jù)傳輸模塊,過流欠壓保護(hù)模塊等等。巡檢車運(yùn)動(dòng)控制算法采用了時(shí)間最優(yōu)PID控制算法和灰色PID控制算法,分別應(yīng)用于無刷直流電機(jī)調(diào)速,巡檢車轉(zhuǎn)向控制中。巡檢車軟件設(shè)計(jì)中。選取了面向智能體的編程思想,應(yīng)用于主模塊和子模塊的設(shè)計(jì)當(dāng)中。最后,通過對(duì)變電站無人巡檢車的調(diào)速及轉(zhuǎn)向的仿真及調(diào)試,得到了一個(gè)穩(wěn)定可靠,安全高效,快速靈敏的巡檢車運(yùn)動(dòng)控制系統(tǒng),維護(hù)了變電站的安全生產(chǎn),安全運(yùn)營(yíng),使得高效節(jié)能,準(zhǔn)確無誤的巡檢工作得以充分實(shí)現(xiàn)。
[Abstract]:The electric power industry of our country is a major pillar industry related to the national economy and the people's livelihood, and the substation is the hub of the transmission network. The inspection and inspection of substation equipment plays an extremely important role in ensuring the normal production and safe operation of the substation. The traditional way of substation inspection is manual inspection. However, the manual inspection efficiency is low, the intensity is large, the substation environment is bad, the personal safety and the reliability of the inspection result can not be guaranteed. In order to solve the above problems, through the comparison and analysis of the intelligent inspection of substations at home and abroad, a high efficiency, safe and sufficient substitute for manual inspection is designed to complete the task of substation inspection. In this paper, a three-wheeled mechanical mechanism is used to control the differential speed of two hub motors, which is supported by two differential wheels and an inert wheel, and the main control system is used to control the differential speed of the two hub motors. The GPS receiver is used to receive the latitude and longitude information of the path, and the control quantity is obtained by comparing with the latitude and longitude of the preset path. After analysis and calculation, the hub motor is controlled by the main controller to complete the corresponding straight line, turn and turn. A series of movements, such as brakes. An ultrasonic barrier avoidance system is also used to avoid collision. The hardware design of substation inspection vehicle includes: power supply module, STM32 main controller module, motor drive module, speed detection module. Data transmission module, overcurrent undervoltage protection module and so on. Time optimal PID control algorithm and gray PID control algorithm are adopted in the motion control algorithm of patrol vehicle, which are applied to the speed regulation of brushless DC motor and the steering control of patrol vehicle, respectively. Inspection vehicle software design. The agent-oriented programming idea is selected and applied to the design of main module and sub-module. Finally, through the simulation and debugging of the speed regulation and steering of the unmanned inspection vehicle in the substation, a stable, reliable, safe and efficient, fast and sensitive motion control system of the inspection vehicle is obtained, which maintains the safe production and safe operation of the substation. So that efficient and energy-saving, accurate inspection work can be fully realized.
【學(xué)位授予單位】：西安工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP273;TM63

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本文編號(hào)：2419398