小体积电缆管道打磨机器人控制系统设计  

Design of small⁃scale cable conduit grinding robot control system

作　　者：何玉灵[1,2] 薛瑞 代德瑞 庞子旺 孔凡坊 张翼 占鹭林 HE Yuling;XUE Rui;DAI Derui;PANG Ziwang;KONG Fanfang;ZHANG Yi;ZHAN Lulin(Hebei Engineering Research Center for Advanced Manufacturing&Intelligent Operation and Maintenance of Electric Power Machinery,North China Electric Power University,Baoding 071003,China;Suzhou Research Institute,North China Electric Power University,Suzhou 215123,China;Wenzhou Electric Power Construction Co.,Ltd.,Wenzhou 325000,China)

机构地区：[1]华北电力大学电力机械装备先进制造与智能运维河北省工程研究中心,河北保定071003 [2]华北电力大学苏州研究院,江苏苏州215123 [3]温州电力建设有限公司,浙江温州325000

出　　处：《现代电子技术》2025年第8期93-99,共7页Modern Electronics Technique

基　　金：国家自然科学基金资助项目(52177042);中央高校基本科研业务费专项基金资助项目(2023MS128);河北省第三批青年拔尖人才支持计划资助项目([2018]-27);苏州市社会发展科技创新资助项目(SS202134);温州图盛控股集团有限公司科技项目(CF058807002022007)。

摘　　要：地下电缆已成为城市电网的重要组成部分,但目前施工过程中电缆易因管道错位问题而被划伤,亟需设计一款电缆管道边缘打磨机器人,提前排除电缆划伤隐患,其中机器人的软硬件控制系统是设计的重中之重。在此背景下,开发了一个基于STM32的硬件电路、软件控制系统的上位机操作界面。使用EDA软件设计系统部分硬件电路,包括最小系统板、降压电路、CAN通信电路和电机驱动电路;在Keil5软件中,应用串级PID控制算法设计了各模块的软件控制程序;基于C#语言,使用Visual Studio软件设计了上位机人机交互界面。经过样机制作与实验验证,证明了该机器人整体功能完善,能够通过上位机界面实现图像传输、机器人行进以及管壁打磨等功能,完全能够满足小体积电缆管道打磨机器人的作业要求。Underground cable has become an important part of the urban power grid,but the cable is easily scratched due to pipeline dislocation during the current construction process.It is urgent to design a cable pipeline edge grinding robot to eliminate the hidden dangers of cable scratches in advance.The software and hardware control system of the robot is the top priority of the design.On this basis,a hardware circuit based on STM32 and an upper computer interface for the software control system are developed.The EDA software is used to design partial hardware circuits of the system,including the minimum system board,step-down circuit,CAN communication circuit,and motor drive circuit.In Keil5 software,the cascaded PID control algorithm is applied to design the software control programs for each module.Based on C#language,Visual Studio software is used to design the upper computer's human-machine interaction interface.After prototype making and experimental verification,it is proved that the overall function of the robot is perfect,and the functions of image transmission,robot travel and pipe wall grinding can be realized through the interface of the host computer,which can fully meet the operation requirements of the small-volume cable pipe grinding robot.

关 键 词：电缆管道 打磨机器人 控制系统设计 硬件电路 STM32 串级PID CAN 

分 类 号：TN929.5-34[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程] TP271[自动化与计算机技术—检测技术与自动化装置]