变电站带电水冲洗机器人开放式控制系统  

Control System of a Substation Live Water Flushing Working Mobile Robot Based on the Tip-Position Algorithm of Mechanical Arms

作　　者：鲁守银[1] 孙丽萍[1] 李健 苏建军 

机构地区：[1]山东建筑大学机器人与智能系统研究院,济南250101 [2]山东鲁能智能技术有公司,济南250101 [3]国网山东省电力公司电力科学研究院,济南250002

出　　处：《计算机系统应用》2015年第10期95-99,共5页Computer Systems & Applications

基　　金：国家"863"计划(2012AA041506)

摘　　要：为了解决人工水冲洗变电站设备的问题,文中介绍了一种新型的变电站带电水冲洗移动机器人及其开放式控制系统结构体系.首先,介绍了变电站带电水冲洗移动机器人总体设计,然后,给出了该机器人开放式控制系统结构体系.变电站带电水冲洗移动机器人采用基于PC机、触摸屏和运动控制器的开放式控制系统,提高了控制系统的开放性和交互性能;基于分层递阶控制的思想,将控制系统划分为组织级、协调级和执行级三个层次,通过各层的配合保证了运动控制算法的实时性和各子系统的协调工作.In order to solve the problem of artificial water flushing equipment of Substation, this paper introduces a new live water flushing working mobile robot of substation and its open control system architecture; Firstly, it introduces the overall design of the live water flushing working mobile robot of substation, and then gives its open control system architecture. The live water flushing working mobile robot of substation uses open control system based on PC, touch screen and motion controller, so it can improve the openness and interaction performance of the control system; And control system based on the idea of hierarchical control is divided into three levels including the organization level, the coordination level and the execution level, so ensures the real-time work of motion control algorithm and the coordination of each subsystem through the cooperation of each layer.

关 键 词：变电站带电水冲洗机器人 开放式控制系统 分层递阶控制 运动控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]