| Energy is the foundation of development upon human existing activities.With the gradual exhaustion of traditional energy,and improvement of people's environmental awareness,the development of green and clean energy is an inevitable trend.Therefore,the development of nuclear power has emerged.However,nuclear power is a dangerous energy source,and the consequences of a leak will be serious.In order to prevent accidents,strengthening the inspection of nuclear power plants is an effective way.Therefore,the use of intelligent inspection robot for nuclear power plant has great significance and value.The intelligent inspection robot studied in this paper is mainly used in the daily monitoring and detection of instruments and the operation of the manipulator.According to the requirements of the inspection,the structure of each part of the functional realization is studied and the motion characteristics are analyzed,laying a foundation for the control of intelligent inspection robot.Research the control strategy and implementation of each part and make it adapt to the environment to operate efficiently.Meanwhile,the upper computer monitoring and control operation interface based on LabVIEW is developed to improve the whole inspection system.Firstly,according to the research background,purpose and significance,this paper expounds and analyzes the development status of robots in the field of nuclear power and inspection at home and abroad.According to the inspection specifications of nuclear plant,the intelligent inspection robot is divided into walking mechanism,lifting mechanism,operating mechanism and image acquisition.The overall scheme of the inspection system is determined by reference and comparison of existing technologies,and the stress analysis and selection calculation of key parts is carried out,which provides the foundation for the function realization of the intelligent inspection robot.Secondly,the feasibility and rationality of the designed structure are verified and the motion analysis is carried out.Ansys Workbench was used for structural static analysis of intelligent inspection robot's key parts to verify the stiffness and strength of mechanical structure meet the design requirements.The modal analysis was carried out on the lifting mechanism to verify the vibration of the motor will not cause resonance.The walking mechanism,lifting mechanism and operating manipulator of the nuclear power inspection robot were modeled,and the kinematics equations of each mechanism were obtained.And the forward kinematics equations and inverse kinematics equations of each mechanism were obtained,which provided the theoretical foundation for the motion control of intelligent inspection robot.Thirdly,according to structure of intelligent inspection robot,the motion strategy design and control research and analysis of each mechanism are established.Firstly,the mathematical model equation of the DC motor is established and the transfer function of the motor is derived.Ordinary PID and adaptive fuzzy PID control theory were used to simulate Matlab Simulink,and the fuzzy PID more suitable for dc motor control system by comparing.The control strategy of stepping motor is researched,the S-type acceleration or deceleration algorithm is used to realize the control of stepping motor.According to the control principle of steering gear,the PID control of operating manipulator is studied.The control strategy provides the theoretical foundation for the actual operation of intelligent inspection robot.Finally,the upper computer control interface and video acquisition and monitoring interface of nuclear power inspection robot are designed and written by LabVIEW.And the experiments of machine vision were carried out,including the experiments of positioning and identification of instruments,object measurement and instrument defect detection,to verify whether the visual processing program meets the requirements of inspection.According to the motion control theory of intelligent inspection robot,the control interface of LabVIEW upper computer is designed,and the experiments are carried out by the upper computer to send the control commands.The walking experiment verifies the intelligent inspection robot can meet the walking requirements under different control modes and the feasibility of fuzzy PID algorithm in the walking system.The lifting experiment verifies the feasibility and positional accuracy of the seven-segment S-type of the stepping motor.The manipulator experiment verified the correctness of the kinematics analysis.The comprehensive experiment verified the rationality of the structural design of the entire intelligent inspection robot and the feasibility of the control strategy. |
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