基于PLC构建电力巡检机器人自动化控制系统  

Constructing an Automation Control System for Electric Power Inspection Robot Based on PLC

作　　者：梁寿愚[1] 李映辰 赵化时[1] 马光 LIANG Shouyu;LI Yingchen;ZHAO Huashi;MA Guang(China Southern Power Grid Co.,Ltd.,Guangzhou 510700,China)

机构地区：[1]中国南方电网有限责任公司,广州510700

出　　处：《自动化与仪表》2024年第5期73-77,共5页Automation & Instrumentation

摘　　要：该文对电力巡检机器人的自动化控制系统进行以PLC为基础的设计,提升电力调度的效率与安全性。基于PLC构建电力巡检机器人自动化控制系统总体架构,通过上位机接收操纵台传递的操作者信息以及下位机传递的温度、角度等状态信息,通过OPC通信程序将指令下发至下位机,下位机依据上位机下达指令,通过PID驱动控制器完成电力巡检机器人运动控制,利用模糊C均值聚类方法判别电力巡检机器人故障,将结果实时传送到上位机操纵台的显示器,及时反馈机器人的工作状态。实验结果表明,该系统可以控制机器人完成电力巡检,该系统应用后可有效检测机器人故障,使其具备优秀的避障能力,可实现上下位机实时通信。The automation control system of power inspection robots is designed based on PLC to improve the efficiency and safety of power dispatch.Based on PLC,the overall architecture of the automation control system for power inspection robots is constructed.The upper computer receives operator information transmitted from the control panel and status information such as temperature and angle transmitted from the lower computer.The instructions are sent to the lower computer through the OPC communication program.The lower computer,based on the instructions issued by the upper computer,completes the motion control of the power inspection robot through the PID drive controller,and applies the control results to the motor driven robot motion,using the fuzzy C-means clustering method to identify faults in power inspection robots,the results are transmitted in real-time to the display of the upper computer control panel,and the working status of the robot is promptly feedback.The experimental results show that the system can control the robot to complete power inspection.After application,the system can effectively detect robot faults,enabling it to have excellent obstacle avoidance ability and achieve real-time communication between upper and lower computers.

关 键 词：PLC 电力巡检机器人 自动化控制系统 上下位机 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]