由于储存环磁铁电源需要重新设计，并且数量由原来的97台增加到350台左右，所以储存环磁铁电源控制系统需要重建。

Since power supplies need to be redesigned because of the number increasing from 97 to 350, the control system for the power supplies need to be rebuilt.

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介绍了机器人控制系统的总体设计方案，包括电磁铁驱动模块、CPLD扩展模块、无线通信模块、电源模块等。

The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, CPLD patulous module, wireless communications module, power module.

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