变电站巡检车运动控制系统的研究控制理论与控制工程专业论文.docxVIP

研究生优秀毕业论文 Research Research on the transmission grid inspection vehicle motion control system Discipline：Control Theory and Control Engineering Student Signature： 厦、k磊 Supervisor Signature： Abstract The national economy and people’S livelihood associated power industry is very important in our country,and its affiliates transforming plant is the key part of the transmission grid． Therefor,the inspection equipment of transmission grid occupies an extremely important part in the safe operating and proper functioning of the transmission grid．While，the traditional inspection equipment of transmission grid is often finished by human beings themselves．The low efficiency,high labor intensity and the harsh circumstances can’t guarantee the human safety,the reliability and the correctness of the inspection result．To solve the above problems， we analyzed the intelligent transmission grid inspection vehicles at home and abroad，and designed a safe and efficient inspection vehicle which carl finish transmission grid inspection instead of human beings． The unmanned transmission grid inspection vehicle adopts three wheels mechanical structure，including two differential wheels and one inertia wheel，in which the two differential wheels are controlled by two different motors，and the motors are further controlled by the control system at different speed．Besides，the system adopted GPS receiver to indicate the lmitude and longitude of the vehicle．and the information will be compared with the path designed in advance，then the controller will provide the controlled quantity to drive the vehicle to go straight，turn left，turn right，brake series of corresponding operations．And beyond that the system employed the ultrasonic obstacle avoidance system to avoid any possible crashes of the vehicle．While，the system hardware design includes the power module，the 万方数据 STM32 STM32 controller module，the motors contr01 module，the velocity measurement module，the data transmission module，the．over-curr