为了使磁吸附壁面检测机器人能沿直线轨迹运行，并具有良好的调速性能，根据驱动电机需要，设计了直流可调稳压电源。通过ＰＷＭ调制，使两侧电机处于跟随状态，转速差保持在较小范围之内，以维持机器人沿直线轨迹运行，用遥控方式操纵它的各种运行状态，从而达到了调速的目的。 In order to make the magnetic adsorption wall detection robot run along a straight line trajectory, and has good speed regulation performance, according to the needs of the drive motor, the DC adjustable power supply is designed. Through the PWM modulation, the motors on both sides are in follow state, and the speed difference is maintained within a relatively small range so as to maintain the robot running along a straight line path and remotely control various operating states of the robot so as to achieve the purpose of speed regulation.