The maintenance and patrolling of the super high voltage line depends on the worker mainly in our country now, which exhausts people easily, costs much, is dangerous and needs the substitute method and equipments. The invention of the robot patrolling line breaks out a completely new concept and method for the high voltage line maintenance. With its application, the robot decreases the exhaustion of people, cost and increases the quality of the patrolling line work and the level of the management technology, which also keeps the worker security.This paper sets forth the design and working form of the mechanical structure, and discuss about the method of spanning the obstacle. It analyses the constitute of the control system emphatically, the design of hardware and software and the applying of the anti-jamming technology in the great current and magnetic field environment. In the hardware part of the paper, it discusses about the design scheme of the control system applying the PMAC, comparing some universal control system, and sums up the characteristics of the PMCA control system.Aiming at the control points of the patrolling robot, it treats the general structure of the control system and its respective function, and makes analysis about the circuit of the PMAC feedback control system. It summarizes the tuning process of the PMAC feedback motor control system, has designed and analyzed the outer circuits including the I/O and no feedback control circuit.In the software part of the paper, it introduces the open and convenient characteristic of the PMAC programmable software PEWIN and has an analysis about the control system software. Focus on characteristic of the control system and PEWIN, we set up model structure and analyzes its function.It has a summary and analysis about the experiments in the magnetic field, qualifies the reliability of the anti-jamming strategies, and brings forward the further resolving method for the problems.Via analysis and discussion of the control system constitute, and the summary of the experiment and test, it gives a example of the control system working in the great magnetic field, also technology use for reference of the maintenance and patrolling of the high voltage transmission line.
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