基于增量式PID算法的变电站设备巡检机器人控制系统研究  

Research on Control System of Substation Equipment Inspection Robot Based on Incremental PID Algorithm

作　　者：黄绪勇 王欣 唐标 林中爱 许守东 HUANG Xuyong;WANG Xin;TANG Biao;LIN Zhongai;XU Shoudong(Electric Power Research Institute of Yunnan Power Grid Co.,Ltd.,Kunming 650012,China;Yunnan Power Grid Co.,Ltd.,Kunming 650012,China)

机构地区：[1]云南电网有限责任公司电力科学研究院,云南昆明650012 [2]云南电网有限责任公司,云南昆明650012

出　　处：《机械与电子》2023年第8期24-28,共5页Machinery & Electronics

摘　　要：为了避免巡检机器人巡检过程中发生安全隐患和故障,运行轨迹误差较大,提出了基于增量式PID算法的变电站设备巡检机器人控制系统。运用RS485与TCP/IP转换器保证主程序与机器人之间的联络,以高清摄像头、温湿度传感器采集变电站图像与温湿度。控制微处理器内PWM信号,将脉冲数传输给控制模块,得到实际与预期速度,输入到增量式PID模型,应用遥控和机器人自身程序相结合,根据传回的变电站图像令机器人运行时可自主控制,实现精准的巡检任务。通过仿真实验,证明所提系统能够使机器人在巡检过程中平稳运行,运动轨迹误差小,控制效果佳。In order to avoid potential safety hazards and faults in the inspection process of inspection robot and large trajectory error,a control system of substation equipment inspection robot based on incremental PID algorithm is proposed.RS485 and TCP/IP converter are used to ensure the communication between the main program and the robot,and high definition camera and temperature and humidity sensor are used to collect substation images and temperature and humidity.The PWM signal in the microprocessor is controlled,the pulse number is transmitted to the control module to obtain the actual and expected speed,and input to the incremental PID model.The remote control is combined with the robot’s own program,making the robot run independently according to the returned substation image,so as to realize the accurate inspection task.Through simulation experiments,it is proved that the proposed system can make the robot run smoothly in the inspection process,with minimal trajectory error and excellent control effect.

关 键 词：增量式PID算法 变电站设备 巡检机器人 控制系统 温湿度传感器 电机驱动 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]