摘要
Abstract
Robots need to respond quickly to various emergencies,and there is a strong electromagnetic field in the substation,which may interfere with the robot·s control system and affect its positioning and control accuracy.Accurate position coordinates help robots navigate and operate accurately in complex structures,reducing the possibility of mechanical collisions and misoperations.Therefore,a dual axis control technology for live maintenance robots of primary equipment in substations is proposed.Build a cloud computing en-vironment cluster using the main computer and multiple auxiliary computers,and establish a grid map of the motion environment for the live maintenance robot of the primary equipment in the substation.Based on the beetle antenna search algorithm particle swarm optimi-zation(BAS-PSO)algorithm,the position coordinates of the robot are calculated.Based on this,the dual axis control error of the ro-bot is compensated,achieving dual axis control of the robot for live maintenance of primary equipment in the substation.The experi-mental results show that under the control of the research method,the position error of the robot is significantly lower,and the running speed of the live maintenance robot does not fluctuate,always maintaining at 1.0 m/s.关键词
变电站/一次设备/带电检修/机器人/双轴控制Key words
substation/primary equipment/live maintenance/robot/dual axis control分类
信息技术与安全科学
