蒸汽发生器检测机器人运动分析与控制实现

Motion Analysis and Control realization of Inspection Robot to Steam Generator

摘要:

在核电站蒸汽发生器复杂环境下,为准确控制机器人完成管板检测任务,提出了一种基于STM8处理器的爬壁机器人运动控制方法;针对机器人两个不同轴线驱动轮的结构特点,运用运动学理论建立了机器人运动方程,分析了机器人的运动特性;设计了爬壁机器人硬件控制电路,为提高机器人的控制精度,采用了位置环,速度环和电流环三环PID软件控制策略;最后,对此控制方法进行了相关实验验证;实验结果表明,爬壁机器人控制电路设计合理可靠,三环PID算法实现了较好的运动效果,满足设计要求。

Abstract:

In order to control robot to finish the inspection of tubes in the complicated surroundings of steam generator, the article proposes a motion control method for wallclimbing inspection robot which is based on STM8 mcu. As the robot is driven by two different axes drive wheel, kinematics equation is built by kinematic theory, and motion characteristics of robot are analyzed. The control circuit of wallclimbing robot is designed. Method of PID software control which is based on position loop, speed loop and electric current loop is adopted to improve the accurate control of robot. Experiments are conducted to prove the control method. The results demonstrate that the design of inspection robot control circuit is reliable, and well motion performance of PID with threeloop is achieved, which meet the design requirements.