摘要
本文介绍了输电线路除冰机器人的结构和原理,设计了机器人的控制系统,实现了对多电机的协调控制和上下位机的通信控制。设计了系统总体控制框架和除冰机器人的除冰作业流程,完成了下位机PLC系统的硬件配置和应用程序设计。给出了IPC和PLC之间的通信协议,完成了通信程序设计。通过实验验证表明,系统能有效地实现对机器人除冰作业的控制和通信的控制。
This article introduced the structure and principle de-icing robot of power transmission lines,designed the control system of robot,and implement the coordinated control of multi-motor and communication control.The paper designed the system control framework and the de-icing operational flow chart of robot,and completed the PLC system hardware configuration and application design.The communication protocol between IPC and PLC was given,and the software was completed.The test shows that the system can realize the de-icing operation control and the communication control of the robot.
出处
《微计算机信息》
2010年第32期143-145,共3页
Control & Automation
基金
基金申请人:王耀南
项目名称:220kV及以上输电线路在线除冰机器人关键技术与装备研究
基金颁发部门:国家科技支撑计划项目(2008BAF36B01)
关键词
输电线路除冰机器人
PLC系统
通信控制
De-icing robot of Power Transmission Lines
PLC System
Communication Control
