Kinematic analysis, modeling and simulation of the substation inspection robot

Abstract

As a development direction of power grid, Smart grid has entered the stage of comprehensive construction, the detection and management of the intelligent substation's integrated parameter has become an increasingly prominent. The traditional manual inspection can't meet the requirements of modern intelligent substation and it is a trend that the substation inspection robot will replace the traditional manual inspection gradually. This paper is based on the kinematics model of the robot and drive motor's dynamics model. We use the Matlab/Simulink software to establish the mathematical model of mobile robot and conduct the model simulation according to the relevant parameters. The result of our research shows that the double closed-loop control which we adopt in this passage has a strong tracking ability and a strong anti-interference capability; it can completely meet the performance requirements of substation inspection robot.