Aiming at problems of a high-voltage transmission line inspection robot in crossing obstacles such as easily crashed, obstacles detected mistakenly and poor ability of anti-interference, the control strategy of double central processing unit (CPU) redundancy control, triple modular redundancy fault-tolerant in sensors of detecting and the anti-interference in the hardware is considered in the control system design based on distributed control by introduction. The experimental results show that the control method can enhance the reliability of control system and improve the work ability of the inspection robot greatly.
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王吉岱,张良,王森,孙建,徐希清.架空输电线路巡检机器人控制系统可靠性设计[J].机床与液压,2018,46(3):54-57. . Control System Reliability Design of Highvoltage Transmission Line Inspection Robot[J]. Machine Tool & Hydraulics,2018,46(3):54-57