Study On Control System Of In-service Pressure Vessels NDT Robot

The safe operation of the in-service pressure vessels has always been an important link to the development of petroleum and petrochemical industry. Because the pressure vessels usually run long time under corrosion, extraordinary temperature and high pressure, it is able to cause the problems of material degradation, creep cracking and creep fatigue fracture at their welded joints. How to effectively detect pressure vessels'weld defect, understand the equipment running condition, and then more accurately predict the equipment life and provide corresponding security technology guarantee. Which is not only a key problem to guarantee safe operation of pressure vessels, but also an increasingly concern issue for the current pressure vessel engineering technicians. In a certain extent, the in-service pressure vessel weld inspection system has an important effect on the development of the petrochemical enterprises.In this paper, the in-service pressure vessels is an research object, combining the non-destructive testing technology, robotics technology, numerical control technology, data transmission and communication technology integration, the control system that is suitable for non-destructive robotics technology is designed for in service vessel.Based on the body structure of the non-destructive testing robot, according to the movement mechanism of the permanent magnetic crawler robot mechanical theory, effectively combining thesis studies to simulate the associated theory regards the non-destructive testing robot as a special wheeled mobile robot and constructs the related kinematics model.Based on this thesis, the corresponding hardware is designed and the software platform is also developed, including the robot driver module, encoder speed measuring module, sensor systems and data transmission systems. The associated software program is designed according to the selected hardware of the control system, and a friendly man-machine interaction system is established, achieving remote monitoring of the non-destructive detection system. Based on the overall design for the control system,use AMESim and MATLAB to carry out simulation experiment and make actual prototype validation.