Research on Navigation Motion Control Method of Intelligent Delivery Robot for Substation Maintenance

Abstract

The intelligent delivery robot for substation maintenance is a kind of intelligent equipment for substation maintenance of power system, which can assist or even replace the artificial equipment to carry equipment in the substation. It has important theoretical significance and practical application value for the automation of intelligent operation and maintenance management of substation. Substation maintenance the autonomous navigation of the robot motion control is the key to promote its practical application, based on this, this paper proposes a substation maintenance intelligent vehicle robot navigation motion control method, the ground mobile robot motion control model was established, and decomposition to the movement of robot in space, deduced the robot along the X, Y, Z direction of movement error expressions, based on this, the motion of the robot controller is designed and selected the suitable Lyapunov function proved that the stability of the robot system motion, finally, the robot system integration design, substation inspection robot physical prototype system is developed and in substations is verified by field movement navigation motion control method is feasible and effective.