【摘要】：架空輸電線路的巡檢工作關(guān)系到千家萬(wàn)戶的供電保障,更是國(guó)家基礎(chǔ)建設(shè)和社會(huì)發(fā)展的“動(dòng)脈”。巡檢機(jī)器人作為新型的巡檢方法,具有精度高、效率高、適應(yīng)性強(qiáng)、費(fèi)用低和可攜帶設(shè)備等優(yōu)點(diǎn)。國(guó)內(nèi)外研究機(jī)構(gòu)的巡檢機(jī)器人多數(shù)只能處于兩塔之間,識(shí)別及跨越線上障礙始終是難題,控制系統(tǒng)大多采用PC104和運(yùn)動(dòng)控制卡組合,有處理性能不高、擴(kuò)展性差、耗電量大等缺點(diǎn)。本課題自主研發(fā)了新型三臂式巡檢機(jī)器人,本文完成了此機(jī)器人控制系統(tǒng)的軟硬件設(shè)計(jì),并對(duì)跨障過(guò)程這一難點(diǎn)進(jìn)行控制實(shí)驗(yàn),驗(yàn)證控制系統(tǒng)的有效性。主要完成的工作如下:1、闡明項(xiàng)目要求及巡檢機(jī)器人研發(fā)的技術(shù)難點(diǎn),提取障礙物尺寸特征,結(jié)合人在鋼絲行走的方式設(shè)計(jì)巡檢機(jī)器人的運(yùn)動(dòng)方案和跨障方案,然后提出本文巡檢機(jī)器人機(jī)構(gòu)方案。2、采用分層遞階控制概念,提出一套完整的巡檢機(jī)器人控制系統(tǒng)硬件方案,有互補(bǔ)協(xié)作的雙處理器結(jié)構(gòu)、雙遙控方式和分布式控制形式等特點(diǎn)。提出障礙物三級(jí)識(shí)別方案,讓機(jī)器人從障礙物3m前三級(jí)減速直至停止于前10cm處。3、提出一套模塊化的軟件系統(tǒng),采用分層設(shè)計(jì),為確保故障及時(shí)診斷修復(fù),添加帶有斷點(diǎn)重啟程序的診斷處理層。為保證軟件的嚴(yán)謹(jǐn)性和可伸縮性,ARM端設(shè)計(jì)結(jié)構(gòu)體通信機(jī)制和動(dòng)作分解機(jī)制,將任務(wù)細(xì)分到最單個(gè)的動(dòng)作“細(xì)胞”。同時(shí),設(shè)計(jì)了工業(yè)PC和地面PC上位機(jī)、手持遙控器的軟件和用戶操作界面。4、應(yīng)用所設(shè)計(jì)的控制系統(tǒng),針對(duì)跨障運(yùn)動(dòng)過(guò)程進(jìn)行控制實(shí)驗(yàn)。簡(jiǎn)化了此巡檢機(jī)器人的跨障運(yùn)動(dòng)過(guò)程,建立了此過(guò)程的運(yùn)動(dòng)學(xué)模型和動(dòng)力學(xué)模型。采用魯棒自適應(yīng)PD控制方法對(duì)跨障運(yùn)動(dòng)軌跡進(jìn)行跟蹤控制,為驗(yàn)證此方法,加入傳統(tǒng)PD控制方法進(jìn)行對(duì)比。通過(guò)Simulink仿真和實(shí)際測(cè)試,結(jié)果顯示它們的控制軌跡都非常接近目標(biāo)值。從跟蹤軌跡上證明了所采用方法的有效性、穩(wěn)定性和優(yōu)越性,也驗(yàn)證了此控制系統(tǒng)的正確性和可行性。
[Abstract]:The inspection of overhead transmission lines is related to the power supply guarantee of thousands of households, and is also the artery of national infrastructure and social development. As a new inspection method, the robot has the advantages of high precision, high efficiency, strong adaptability, low cost and portable equipment. Most of the inspection robots of domestic and foreign research institutions can only be located between two towers, so it is always a difficult problem to identify and cross the obstacles on the line. Most of the control systems adopt the combination of PC104 and motion control card, which have low processing performance and poor expansibility. Power consumption and other shortcomings. In this paper, the software and hardware design of the robot control system is completed, and the control experiment is carried out to verify the effectiveness of the control system. The main works are as follows: 1. The requirements of the project and the technical difficulties of the research and development of the inspection robot are expounded, the characteristics of the obstacle dimensions are extracted, and the motion scheme and the cross obstacle scheme of the inspection robot are designed in combination with the human walking mode in the steel wire. Then, the mechanism scheme of inspection robot is put forward. 2. By using the concept of hierarchical control, a complete hardware scheme of inspection robot control system is proposed, which has a complementary and cooperative dual-processor structure. Dual remote control and distributed control. In this paper, a three-level obstacle identification scheme is proposed, which makes the robot slow down from 3 m to stop at the front 10cm. 3. A modular software system is proposed, which adopts layered design to ensure timely fault diagnosis and repair. Add diagnostic layer with breakpoint restart program. In order to ensure the preciseness and scalability of the software, the communication mechanism and the action decomposition mechanism of the structure are designed on the ARM side, and the task is subdivided into the single action "cell". At the same time, the software and user interface of industrial PC and ground PC host computer, handheld remote controller and user interface are designed. 4. The control system is applied to control the process of cross-barrier motion. The kinematics model and dynamic model of the inspection robot are established. Robust adaptive PD control method is used to track and control the motion trajectory of the obstacle. To verify this method, the traditional PD control method is added to compare it. Through Simulink simulation and actual test, the results show that their control trajectory is very close to the target value. The effectiveness, stability and superiority of the proposed method are proved from the tracking track, and the correctness and feasibility of the control system are also verified.
【學(xué)位授予單位】：南昌大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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