Dissertation > Excellent graduate degree dissertation topics show

Development of a Full-digital Servo Control System of Inspection Robot for High-voltage Transmission Lines Based on DSP

Author: BaiYuCheng
Tutor: WuGongPing
School: Wuhan University
Course: Mechanical Manufacturing and Automation
Keywords: DSP BLDC Inspection Robot for the High-Voltage Transmission lines the full-digitall servo control CAN bus
CLC: TP242
Type: Master's thesis
Year: 2005
Downloads: 398
Quote: 3
Read: Download Dissertation

Abstract


This paper presents the control system of the automatic inspection robot for 220KV high-voltage transmission lines, which is a national funding program (863 programs: 2002AA420110). The robot is a completely automatic inspection instrument especially for the over ground high-voltage transmission lines. It could inspect various failures of the transmission line system, like the section break, electric leakage on insulator, and loosening of antivibrator.We design a fully digital control system based on DSP, after studying the original controller of inspection robot for the high-voltage transmission lines. This system utilizes the master slaver mode with multi-processor. Embarking on the slaver processor, which has TMS320LF2407 DSP as its key part, we succeed the design by employing its two event managers (EVA and EVB) to achieve the fully digital server control of two brushless DC (direct current) motors, including control of displacement, velocity and armature current. This slaver processor performs communication with the master one via high speed field bus (CAN bus).Considering he practical needs and reliability of the system, we supplement such functions as circuit protection, system self-checking, and failures disposal. Many other measures are employed to the system to reinforce its anti-jamming capabilities, like photo electricity isolation, shielding, and one-point connect to the ground.We utilize the interrupt structure model in software designing, to realize the real time multi-task disposal capability of the system. The system could achieve preferential calling mechanism, by setting the interrupt level according to the degree of the real time demand. This system has many advantages such as excellent extensibility, high integrity, better price/performance ratio, compact frame, more stable performance, and powerful anti-electromagnetism. Function. So it could satisfy the multi-shaft control requirement of the robot.

Related Dissertations

  1. Design of Electronicalcontrol System for Electronic Jacquard Knitting Machine,TS183
  2. Research on the Integrated Grating Subdividing Digital Display Device Based on DSP,TH822
  3. Study on Two Dimensional of Auto-Collimator Based on DSP,TH741.14
  4. Development of GJB1188A Bus Signal Monitoring and Recording Device,V248.2
  5. Study on the Control System for Automatic Aiming of HWIL Pitching Mechanism,TJ303
  6. The Design and Optimization of Locomotive Signal Testing System Based on ARM9,U284.91
  7. Study on the Locomotive Dynamic Supervision System,U284.48
  8. The Inductive Load Based Vehicle Body Network Control System,U463.6
  9. The Study of Control Algorithm for Automotive Power Window Based on Lin Bus,U463.6
  10. Research on Synchronous Motor Excitation Control System,TM341
  11. Research on Induction Motor Vector Control System Adapting Multi-Bus Communication Mode,TM346
  12. The AES Algorithm and Its Implementation in DSP,TN918.1
  13. The Design of a DSP-Based Robot Speech Command Recgnition System,TN912.34
  14. Research on Signal Receiving System of Phase Laser Range Finder,TN249
  15. Study on Implementation Technology of Channel Estimation in OFDM System Based on DSP,TN919.3
  16. Optimizing and Realising Research on Vedio Compression in TV Guidance System,TN919.81
  17. Voice Signal De-noise Base on Wavelet and Arithmetic Implement with DSP,TN912.3
  18. Research on High-Performance Computer I/O Bus,TP336
  19. Research on Image Compression and Implementation Using TMS320C6713 Based on SPIHT Algorithm,TP391.41
  20. CAN bus technology in the meteorological monitoring System Research and Implementation,P409
  21. Design of AHB Monitor Based on SHA and AES Algorithms,TP309.7

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile