Abstract
In view of the deficiencies of current inspection methods on high-voltage transmission lines, the paper introduces a kind of inspection robot from two parts of mechanical structure and control system. A three-arm structure is adopted in the mechanical structure, while the control system is composed of the supervisory control subsystem on the ground and the body control subsystem. The PC/104 and AT89S52 are used for the master controller and control chip, and the BLDC is used for the power drive component. Through the simulation analysis by Matlab/Simulink, the anti-interference performance and speed control performance of the walking wheel motor control system is explored. Besides, conclusion that the walking wheel motor control system meets the requirement of speed is drawn.
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