Research On Control System Of Robot For Prevent Blowout

In recent years,with the rapid development of robot technology and the increase of labor cost,many industries have adopted robot to replace human work.In the oil industry,the stop blowout robot is mainly used in treatment of blowout when repairing the well.Its function is to finish the work of transporting and installation the valve for stoping blowout.Firstly,the paper is aimed at the stability of the robot in its work process.It`s implemented that decearsing the effect of the vibration caused by external force on the basis of insurance its stability.For the realization its stability, the S velocity curve is used to fit the robort speed so that there is no phenomenon of accelebration subben changing.For the realizationits initiatively decreasing vibration, a fuzzy control is used to change the motor acceleration to produce force to decrease vibration.Next,aimed at the problem of the workplace is not conducive to use the sensor and not conducive to acquise the accurate signal of motor rove,the motor electric current is used to replace the motor rove.The current signal from motor server is delivered to PLC after it is transformed by A/D simulation.The difference between the current produced in normal work process and the current effected by external force is the input signal of control system.Finally, in order to achieve the control function, the PC-PLC structure is adpotted in the control system. In its work, the PLC is used to complete the basic work tasks, while the IPC is used to complete the task of planning trajectory and computing control.The IPC exchanges data with the PLC via serial port.PLC sends input singal of control system to PC and PC sends singal of motor control to PLC.