| 架空输电线路巡检机器人控制系统可靠性设计 |
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| 引用本文： | 王吉岱,张良,王森,孙建,徐希清.架空输电线路巡检机器人控制系统可靠性设计[J].机床与液压,2018,46(3):54-57. |
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| 作者姓名： | 王吉岱 张良 王森 孙建 徐希清 |
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| 作者单位： | 山东科技大学机械电子工程学院; |
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| 摘 要： | 针对550 k V架空输电线路巡检机器人在巡检作业中控制器死机、障碍误检以及抗干扰性能差问题,在介绍基于分布式的巡检机器人控制系统基础上,提出了主控制器双机冗余控制和传感器三模冗余容错的控制策略,并且在硬件上实行抗干扰设计。实验表明,该控制策略增强了巡检机器人控制系统可靠性,大大提高了机器人的巡检作业能力。
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| 关 键 词： | 巡检机器人 冗余 容错 可靠性 |
Control System Reliability Design of High voltage Transmission Line Inspection Robot |
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| Abstract: | Aiming at problems of a high-voltage transmission line inspection robot in crossing obstacles such as easily crashed, obstacles detected mistakenly and poor ability of anti-interference, the control strategy of double central processing unit (CPU) redundancy control, triple modular redundancy fault-tolerant in sensors of detecting and the anti-interference in the hardware is considered in the control system design based on distributed control by introduction. The experimental results show that the control method can enhance the reliability of control system and improve the work ability of the inspection robot greatly. |
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| Keywords: | Inspection robot Redundancy Fault-tolerant Reliability |
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