基于超声波电机的线路巡检机器人伺服控制系统  

A Servo Control System for Line Inspection Robots Based on USM

作　　者：李轩[1] 徐志科[1] 周玲[1] 金龙[1] 戴德嵩 潘志翔[1] 龚龙中 

机构地区：[1]东南大学电气工程学院,江苏南京210096

出　　处：《电气自动化》2017年第3期9-11,共3页Electrical Automation

摘　　要：介绍了一种线路巡检机器人伺服控制系统。控制系统包括了对超声波电机、永磁直流齿轮减速电机等多个电机的协调控制,完成了对高压线路上故障的发现、清除、回收。控制系统以RS232作为主要通信方式,以无线通信作为主要通信途径,保证了机器人在高压线路工作中的可靠性。控制系统通过对机器人工作状态量的采集,保证了机器人能够在规定电量内完成规定的工作量,提高了线路巡检工作的效率。This paper introduces a servo control system for line inspection robots, which includes coordinated control over the USM, permanent magnet DC gear reduction motor, etc. and fulfills discovery, removal and recovery of faults on high voltage lines. Taking RS232 as main communication mode and wireless communication as main communication way, this c, ontrol system can ensure the reliability of the robot in its operation on high voltage lines. The control system collects the quantity of working state of the robot to ensure that the robot can complete its prescribed work amount in the specified electric quantity, thus improving the efficiency of line inspection.

关 键 词：无线通信 超声波电机 永磁直流齿轮减速电机 状态采集 高压巡检 

分 类 号：TM451[电气工程—电器]