Research On Application Of Expert System In Intelligent Robot Of Nuclear Power Plant

Nuclear intelligent robot is an indispensable tool of modern nuclear industry, and it's the future development goal and direction for modern nuclear industry. Expert system is a kind of computer program system which simulates human experts to solve domain problem, being one of the most widely and most actively used in the artificial intelligence applications. It has been successfully applied in the fault diagnosis, system design and real-time control. This paper is guided by the application requirements, focusing on the research of expert system in intelligent robot of nuclear power plant.Firstly, the basic knowledge of expert system is studied and analysed, and the construction method of expert system which related in this paper practical application is studied and explored, laying foundation for the practical application.Next, a new method is developed to solve the problem of the obstacle avoidance in path planning. The influencial factors in the process of robot obstacle avoidance are too many and complex to establish an accurate model. In order to solve the problem, a fuzzy expert system was designed and developed. Fuzzy control and expert system control are combined, not only consist of the robustness and anti-interference of the fuzzy control, but also consist of the flexibility and interaction of the expert system control, to solve the difficulty of building an accurate model and self-control, and to improve the safety and accuracy. Through simulation experiments in MATLAB, it is proved that the system has the function of judgment and avoidance for the obstacles. Obstacle avoidance in this method is more flexible and accurate than a single previous method.Last, based on the breakdown maintenance problems of nuclear equipment in intelligent robot in task planning, the breakdown maintenance expert system is developed by using the expert system technology, The task planning of troubleshooting is reasoned and realized by using the expert system language CLIPS. The reasoning interface of the mission planning system is developed by using VC++6.0. The system has the function of equipment fault reasoning and raiseing corresponding processing method according to the possible fault. The breakdown maintenance expert system has good flexibility and accuracy to realize control breakdown maintenance tasks planning intelligently.