变电站巡检机器人的编码器/惯性无轨导航

华电技术 ›› 2013, Vol. 35 ›› Issue (8): 11-14.

变电站巡检机器人的编码器/惯性无轨导航

(1.华北电力大学自动化系，河北保定〓071003； 2.华北电力大学电力工程系，河北保定〓071003)

出版日期:2013-08-25 发布日期:2013-09-23

Encoder/inertia trackless navigation of substation inspection robot

(1.Automation Department, North China Electric Power University, Baoding 071003, China; 2.Department of Electric Power Engineering, North China Electric Power University, Baoding 071003, China)

Online:2013-08-25 Published:2013-09-23

摘要/Abstract

摘要： 摘要：研究了目前变电站巡检机器人的导航方式，开发了一种以STM32为核心的编码器/惯性无轨导航系统，并完成了软、硬件设计，采用卡尔曼滤波惯性制导算法和闭环测速以及比例-积分-微分(PID)控速算法，增加了系统的导航精确度，减小了变电站施工周期和施工成本，使巡检机器人具备了更好的应用价值和市场前景。

关键词: 关键词：变电站, 巡检机器人, 无轨化导航, 陀螺仪, 编码器

Abstract: Abstract:The navigation mode of current inspection robot for substation was studied. An encoder/inertia trackless navigation system, in which the stm32 is used as core, was developed, and the software design and hardware design were all completed. The Kalman filter inertial guidance algorithm, the closedloop speed measurement and PID speed control algorithm were adopted. By using the navigation mode, the navigation precision of the system was improved, and the construction period and the construction cost of the substation were reduced, which make the inspection robot to have better application value and market prospect.

Key words: Key words:substation, inspection robot, trackless navigation, gyroscope, encoder

王加芳 1，贾晓霞 1，房静 2 . 变电站巡检机器人的编码器/惯性无轨导航[J]. 华电技术, 2013, 35(8): 11-14.

WANG Jiafang 1, JIA Xiaoxia 1, FANG Jing 2 . Encoder/inertia trackless navigation of substation inspection robot[J]. Huadian Technology, 2013, 35(8): 11-14.