System Design And Control Strategy Of Boiler Water Wall Detection Robot

Ensuring safe and reliable operation of the power system is a task of top priority in every country.At present,thermal power generation is still playing an important role of power supply in China,and boiler water cooling wall is the key component of thermal power plant,long-term high temperature environment will make water wall corrosion and even crack.In order to avoid the economic loss caused by the failure of water wall,the development of a water wall detection robot has become an urgent problem.In this paper,a water wall detection robot based on permanent magnet adsorption is selected as the research object,and its mathematical model,path planning,control strategy and other aspects are studied with motion control as the research emphasis.The concrete research contents of this paper include:(1)Searching a large amount of literature and data related to boiler water wall detection robot,analyzing various types of robot structure and control method.Combined with robot’s work demand,this paper put forward a four-wheeled differential climbing robot based on permanent magnet,and expounds the related structure scheme and control scheme,lectotype of sensor and main controller are discussed in detail.(2)The kinematics model of the water wall detection robot and the robot arm were established.The positive and inverse solutions of the kinematics model of the robot arm were checked by simulation using the Robotics Toolbox in Matlab.In Adams,the simplified model of the water wall detection robot is simulated in direct and steering motion,which verifies the feasibility of the robot’s movement on the wall.Based on the Lagrange equation,the dynamic model of the robot was established,and the variation of the driving torque of the robot under different azimuths was verified in Matlab.(3)A path planning method for the robot to work on the water wall is proposed.Based on a neural network model of non-learning behavior,the global traversal algorithm is established,and the feasibility of the algorithm is verified by simulation analysis in Matlab.Based on kinematics and dynamics models respectively,a controller based on backstepping method and slide mode theory is proposed,and the simulation analysis in Simulink shows that the two controllers theoretically have a good track tracking effect.(4)According to the working conditions and requirements,the software and hardware of the control system of the water wall detection robot are designed in detail.In terms of hardware,the control circuit of the whole robot is built with STM32F4 as main control board,and peripheral circuits such as UWB positioning sensor and attitude sensor are added.In terms of software,a user interface program based on Labview and a hypogynous computer program equipped with ucos-ii operating system were developed.Finally,a prototype robot is tested to verify its wall motion performance and detection capability...