Design of a control system for a flexible clamping grounding rod with an electric remote-controlled lead screw
Abstract
To address the problems of low efficiency, easy damage to conductors, and safety hazards caused by rigid clamping in traditional power system grounding operations, this paper designs a flexible clamping grounding rod control system based on an electric remote-controlled screw drive. The system uses an STM32 microcontroller as its core and combines LoRa wireless communication technology to achieve reliable transmission of remote control commands. Mechanically, a ball screw and slider mechanism are used to achieve linear motion conversion. A flexible silicone composite pad is innovatively introduced at the clamping end, supplemented by a thin-film pressure sensor to form a force closed loop. In terms of control strategy, a flexible clamping algorithm based on impedance control is proposed, combined with a fuzzy PID controller, to achieve "soft contact" and constant force clamping during the clamping process. Experimental results show that the system can achieve a remote control distance of over 500 meters and a command delay of less than 100ms. When the target clamping force is set to 50N, the system overshoot is less than 8%, and the steady-state error is controlled within ±1N, effectively avoiding surface scratches on the conductor and significantly improving the safety and automation level of grounding operations.