变电站轨道式巡检机器人驱动系统设计
赵金洋，张洪丽*，张鹏程
山东交通学院工程机械学院，山东 济南 250357
摘要：为解决变电站轨道式巡检机器人运行时转速稳定性差的问题，以控制特性较好的永磁同步电机(permanent magnet synchronous motor，PMSM)为驱动电机，设计变电站轨道式巡检机器人驱动系统，计算机器人的结构参数和运动参数，完成电机选型；结合矢量控制(field oriented control，FOC)与空间矢量脉宽调制(space vector pulse width modulation，SVPWM)策略，采用软件MATLAB Simulink搭建比例-积分-微分(proportional-integral-derivative，PID)速度-电流双闭环控制方式的PMSM驱动系统仿真模型，验证设计系统的稳定性与可靠性，搭建实物试验平台进行电机空载与带载转速试验。结果表明：采用PID速度-电流双闭环控制方式的PMSM驱动系统，变电站轨道式巡检机器人的转速稳定，工作可靠；试验结果与仿真结果吻合，满足预期设计要求，该设计方案可行。
关键词：轨道式巡检机器人；驱动系统；PMSM；FOC；PID速度-电流双闭环控制
Design of the driving system for an orbital inspection robot in a substation
ZHAO Jinyang, ZHANG Hongli*, ZHANG Pengcheng
School of Construction Machinery，Shandong Jiaotong University，Jinan 250357，China
Abstract:In order to solve the problem of poor stability in the rotational speed of the track-based inspection robot in a substation, a permanent magnet synchronous motor (PMSM) with good control characteristics is used as the driving motor to design the driving system for the substation track-mounted inspection robot. The structural and motion parameters of the robot are calculated to complete the motor selection. By combining field-oriented control (FOC) and space vector pulse width modulation (SVPWM) strategies, a simulation model of the PMSM drive system is built using MATLAB Simulink software, employing a proportional-integral-derivative (PID) dual-loop control method for velocity and current. The stability and reliability of the designed system are verified, and a physical test platform is set up to conduct no-load and load speed tests on the motor. The results show that the PMSM drive system, using the PID dual-loop velocity-current control, achieves stable and reliable speed control for the substation track-mounted inspection robot. The experimental results are consistent with the simulation results, meeting the expected design requirements, and proving the feasibility of the proposed design solution.
Keywords:orbital inspection robot；driving system；PMSM；FOC；PID velocity-current dual-loop control
