【作者】 白玉成；

【导师】 吴功平；

【作者基本信息】 武汉大学 ， 机械制造及其自动化， 2005， 硕士

【摘要】 本课题主要是为国家863项目(2002AA420110)——220KV架空高压线自动巡线机器人而设计的一种控制系统。高压巡线机器人是针对架空高压输电线路的一种全自动化的巡线装置。主要是巡线检查高压输电导线的故障(如:断股,绝缘子漏电,防震锤松动等)。本课题是在分析和研究高压巡线机器人原控制器的基础上,设计了一种基于DSP的全数字化控制系统,该系统采用主从式多处理器工作模式,本文主要是针对从处理器而设计的,它以TMS320LF2407 DSP为核心器件,通过调用它的两个事件管理器(EVA和EVB)实现对两个无刷直流电机的全数字化的伺服驱动控制,具体包括位置、速度、电枢电流的控制。它和主处理器是采用高速现场总线(CAN总线)通信的。考虑到实际需要和系统工作的可靠性,设计中扩展了以下功能,电路保护功能、系统自检功能、各种故障处理功能,系统还采取了各种措施来增强系统的抗干扰能力,例如光电隔离、屏蔽、一点接地等措施。软件设计采用中断型结构模式实现了系统的多任务实时处理能力,通过对各中断处理子程序的调用实现多任务执行的实时性,根据任务的实时性程度设置各中断任务模块的中断级别,从而实现各任务的抢先调用机制。采用该控制器的系统具有较好的可扩展性、较高的集成度和优良的性价比,并且系统体积相对减少,性能稳定可靠,抗电磁干扰能力强,可满足巡线机器人多轴控制的需要。更多还原

【Abstract】 This paper presents the control system of the automatic inspection robot for 220KV high-voltage transmission lines, which is a national funding program (863 programs: 2002AA420110). The robot is a completely automatic inspection instrument especially for the over ground high-voltage transmission lines. It could inspect various failures of the transmission line system, like the section break, electric leakage on insulator, and loosening of antivibrator.We design a fully digital control system based on DSP, after studying the original controller of inspection robot for the high-voltage transmission lines. This system utilizes the master slaver mode with multi-processor. Embarking on the slaver processor, which has TMS320LF2407 DSP as its key part, we succeed the design by employing its two event managers (EVA and EVB) to achieve the fully digital server control of two brushless DC (direct current) motors, including control of displacement, velocity and armature current. This slaver processor performs communication with the master one via high speed field bus (CAN bus).Considering he practical needs and reliability of the system, we supplement such functions as circuit protection, system self-checking, and failures disposal. Many other measures are employed to the system to reinforce its anti-jamming capabilities, like photo electricity isolation, shielding, and one-point connect to the ground.We utilize the interrupt structure model in software designing, to realize the real time multi-task disposal capability of the system. The system could achieve preferential calling mechanism, by setting the interrupt level according to the degree of the real time demand. This system has many advantages such as excellent extensibility, high integrity, better price/performance ratio, compact frame, more stable performance, and powerful anti-electromagnetism. Function. So it could satisfy the multi-shaft control requirement of the robot.更多还原