Research On Control Method Of Manipulator Used For Steam Generator Repairing

Steam Generator is the hinge which connects the loop 1 and loop 2 of the nuclear power station, and it is also one of the equipments of the nuclear power station which are usually in fault. When leakage occurs, human being can not go into the SG for repairing because of the radioactive substances in the SG. So it is necessary to develop manipulator for SG's repairing instead of human being. Most of the repairing is manipulated way from the SG.For example, a manipulator with different repairing tools at the end effector. is set in the SG water station from man-port, which can carry out different repairing tasks.This dissertation is about some project, designing a manipulator used for the SG repairing, such as the repairing of the task - plugging pipes. The manipulator has six joints and eccentricity tools set in the end effector. This dissertation has mainly described the work space of the manipulator, the inverse kinematic solution, trace planning, joint control and so on.Firstly the collectivity design of control system of the manipulator used for steam generator repairing is presented, including the software system and hardware system of the control system, the function and principle of the system is also described.And then, the task surroundings of the manipulator is analyzed, a collision check method is presented, realizing the attainability space solution of the manipulator under the condition whether the collision is considered or not, then the attainability area of the plugging pipes and the improvement of the work capability occurred after the manipulator inducted the eccentricity tools is analyzed, at last it balances the differentiate of the plugging pipes attainability area before and after the eccentricity tools are inducted.In succession, the kinematic solution is achieved, and then, a research of the questions which have been divided into two parts of eccentricity tools and non- eccentricity tools is made, regardless of the non-redundancy of the manipulator in eccentricity. The solution based on both algebra and geometry is respectively investigated. With a view to redundancy of manipulator in eccentricity tools, the text brings forward the method which is a combination of the algebra method and the optimized method. At the same time, it can ensure the algorithm accuracy and the character of real-time. This text as well studies the collision inverse solution, bringing forward the method of collision avoiding inverse solution based on immunity inherit algorithm. The text puts the speediness into the consideration in order to adapt real-time application. The speed inverse solution of manipulator likewise is studied, based on which the text puts forward the analytic method of the different speed the manipulator has in different work place.Afterwards, the question of the trace planning is studied, binging forward the rank-3 simplified route layout model of this manipulator. Moreover, it opens out the trace planning problem of the manipulator according to both the known-end expected trace condition and the unknown expected trace condition. For the first condition refer to, it brings forward the method based on the real-time inverse solution and the NN, for the method based on the NN, this text puts forward the self-adapt trace track control based on the CMAC meshwork and the large-scale trace track result approaching based on the sustaining vector. Also, the improvement method of the ones mentioned, advancing the real-time characterize of the application is brought forward. For unknown expected trace condition, the trace planning method based on artificial potential field sequence is put forward. Compared with the traditional artificial potential field, for the application of high dimension, this method has the predominance of more simplified and realizable. In addition, this text brings forward the trace layout of the manipulator based on the signpost method. At the same time, it gives attention to two or more things such as the strong search ability and the real-time application problem. This text brings forward the improvement method of the road map method, making this method prone to apply and expend to the high dimension. The method mentioned in this text can be applied in the large-scale non-collision trace searching problem of the manipulator whose axis is six linkages.At last, the joint control problem of the manipulator is studied, the double Resolver combination algorithm which can measure the angle in high precision is deduced. Under the precondition that we may use the double Resolver information to improve precision furthest, it realizes the maximum of the bearing error ability to the single Resolver, which enhances the reliability of the combination data. For the joint servo control of the manipulator, this text puts forward the model of hypogynous computer speed control, raveling out the problem of peculiar complexity of the joint construction and the graveness of non-linearity dead area. For the inertia and moment of the manipulator, this text brings forward the simplified calculate method based on the geometry commutation and integral, avoiding the solution of the complicated dynamical model, greatly improve the realization and practicability of the algorithm, based on which the linkage control of the joint is studied.The algorithm and control method this text mentioned have all checked up in the emulation method, and most of the method have been proved to be realizable in the real software platform for manipulator control, and have been applied in the real control of the manipulator. Through the experiment of real control, the method mentioned in the text proves to be realizable and superiority.