Research On Remote Operation Control System Of Nuclear Power Manipulator

Nuclear power is an important part of my country’s sustainable energy development and a national strategic resource.After more than 30 years of development,China has become a major nuclear power country,and the issue of decommissioning nuclear facilities is imminent.The decommissioning of nuclear facilities is a very complex system engineering.With the in-depth development of decommissioning work,a considerable part of the difficulty of decommissioning work is concentrated in workplaces with high radiation and large space constraints,such as the decommissioned equipment room below the "0" plane,which often involves the removal of process equipment and pipelines.Due to the high radioactivity in the decommissioning equipment room of nuclear facilities,the space is narrow,and the current high-radiation operating environment is mostly manual operation,with low automation and intelligence.In order to protect the safety of the decommissioning personnel and avoid a large amount of radiation,it has remote operation control.The functional disassembly robot system has become an important and necessary nuclear decommissioning equipment,and its technical research and application level has also become one of the important signs of the development of a country’s nuclear industry technology.At present,the key technologies of nuclear power robots mainly include anti-irradiation technology,reliable communication technology,intelligent control technology,etc.For these key technologies,our country’s scientific researchers have achieved considerable results after years of research,but in the process of testing and application Still exposed many problems.Therefore,the research on nuclear power manipulator teleoperation control technology has important theoretical significance and practical value.This paper mainly designs and researches the teleoperation control system of a nuclear power manipulator with five rotations and one translation with six degrees of freedom.Through the remote host computer control system,the robot arm can be remotely operated and controlled as well as on-site data,real-time image acquisition and display,and interaction with the lower computer control system.The specific research content includes:(1)According to the functional requirements of nuclear power manipulator operation,formulate the overall plan of the control system,the motion control plan,the drawing of the electrical schematic diagram,the selection of each unit device,the remote operation control program and the design of the interactive interface program.(2)According to the design structure of the nuclear power manipulator,the improve D-H model(MDH model)is constructed,and the forward and inverse kinematics analysis and mathematical derivation are performed to obtain the forward and inverse solutions.The Monte Carlo method is used to solve the work space of the manipulator.The robot simulation toolbox of MATLAB is used to simulate the manipulator.On this basis,the solution of forward and inverse kinematics and the workspace are analyzed,and its correctness is verified.(3)Based on Googol Technology NC610 controller,QT is used as the development platform to realize the motion control of the manipulator servo module and design the interactive interface of the lower computer control system;use the PXN series remote control lever,combined with the Direct Input game handle to develop the function library,Develop and realize the remote operation function of the upper computer control system;use Advantech industrial computer as the upper computer system PC to collect real-time video images,and use socket communication technology to realize the two-way communication between the lower computer manipulator motion control system and the upper computer system,thereby To ensure the transmission of data such as remote operation control commands and status information,the use of TCP protocol also ensures the accuracy and reliability of data transmission.(4)Finally,build an experimental test platform for the nuclear power manipulator control system,and conduct functional tests,Socket communication efficiency tests,and system stability tests.The experimental results show that the built nuclear power teleoperation control system has good stability and can achieve precise positioning.Meet the function and index requirements of its control system.