无损检测机器人可逆直流驱动控制研究

The Research of Reversible DC Drive for Nondestructive Testing Robot

针对核反应堆无损检测机器人主立柱驱动需求,研发一款4kW逻辑无环流可逆直流驱动器,提出一种设计DLC(无环流逻辑控制器)的新方法,采用分段PID控制算法解决系统非线性问题,并对驱动器EMC性能进行测试。应用结果表明,DLC工作稳定可靠,驱动器调速性能良好,EMI低,不影响系统中超声传感器的正常工作。

To meet the needs of nuclear reactor nondestructive testing robot system, this paper researches and implements a 4 kW reversible dc drive with logic circuits, puts forward a new design of DLC （ no circulation logic controller ）, uses piecewise PID to resolve the problem of nonlinearity in the system, and carries out experiments of EMC on the drive. The applica- tion shows that the DLC works stable and reliable, the driver has good speed regulation performance, and has low EMI, which do not affect the normal work of the ultrasonic sensor.