Design of the driving system for an orbital inspection robot in a substation
ZHAO Jinyang
ZHANG Hongli
ZHANG Pengcheng
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 robotdriving systemPMSMFOCPID velocity-current dual-loop control
Publication Date：2023-12-30
Online Publishing Date：2026-05-22(First online date of this platform, not the publication date of the document)
Pages：9( 9-17 )