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带电检修履带式移动机器人用于实现对隔离断路器的带电检修。设计了一种基于检测光栅的移动平台导航系统,并对检测光栅测量误差进行分析。然后建立了移动平台导航过程数学模型,并基于Backstepping算法设计其导航控制算法。最后采用Recur Dyn、MATLAB/Simulink对导航过程进行联合仿真。通过移动平台在凹凸不平路面上的相关仿真,得出相应的结论,并对实际带电检修导航过程提出相关要求。
Crawler mobile inspection of the mobile robot used to achieve the isolation of the circuit breaker overhaul. A mobile platform navigation system based on detection grating is designed and the measurement error of detection grating is analyzed. Then the mathematic model of mobile platform navigation process is established and its navigation control algorithm is designed based on Backstepping algorithm. Finally, Recur Dyn and MATLAB / Simulink are used to simulate the navigation process. Through the simulation of the mobile platform on the uneven road surface, the corresponding conclusions are drawn and the relevant requirements for the actual overhaul navigation process are put forward.