Motion Planning Method And Control System Realization Of Ultrasonic Testing About Pressure Vessel

With the development of pressure vessel,the safety of these devices must be taken into consideration. In recent years, the research of high efficient and good precise ultrasonic testing system became a serious problem in the field of ultrasonic testing device.The research of ultrasonic detection device about pressure vessel was limited interiorly. The ultrasonic detection device are very few used on test on line. Based on the portable project of ultrasonic testing of the weld pressure vessel,a ultrasound scanning device for pressure vessel testing was designed.Control system for ultrasonic testing was simulated and analyzed.This system has stability function and error compensation of motion control.The trajectory planning method for pressure vessel was also introduced. The main research works were as follows:(1)The defect type and basic ultrasound theory was described. The control program for probe direction and location was given based on the analysis of ultrasonic detection method about pressure vessel.The ultrasonic detection system was analyzed completely.(2) The special ultrasonic device was designed according to the characteristics of the pressure vessel and its kinetic analysis.(3) The detailed steps for automated ultrasonic testing of pressure vessels were analyzed. The scanning scheme of pressure container was designed. Several trajectory planning methods were contrast each other. The Z-map theory was described in detail.Finally, the pressure vessel trajectory planning was discussed.(4)The mathematical models for each part of ultrasonic detection system were built. The control system model was built based on fuzzy PD controller and PMAC controller. Through simulation method, the various parameters influence of system stability and responsiveness were analyzed.Error analysis and compensation of the system was discussed and its effect was verified.The ultrasonic detection image was processed and defect identification was introduced.Finally, the brief summary and outlook of overall design was given.The ultrasonic detection control system has good motion flexibility, high control precision, fast response and low cost. It is very suitable for ultrasonic testing.