核反应堆压力容器检测机器人控制系统研发

Research and Development of Control System for Reactor Pressure Vessel Detection Robot

核反应堆压力容器由于其工况特殊性,给超声检测仪的送入和扫查操作造成不便。针对这个问题,设计了一种多自由度机械手臂和专用平台组成的检测机器人。采用模块化方式处理机器人控制系统,设计出由运动控制器、驱动器、传感器和计算机等构成的硬件结构,根据核反应堆压力容器无损检测方式开发设计相应控制软件,以此实现对机器人的远程运动控制。系统仿真和现场测试表明,该系统性能稳定,实用性强,达到了设计要求,具有一定的参考价值。

Because of the particularity of the working condition of nuclear reactor pressure vessel, it is inconvenient for input of the ultrasonic detector and scanning operation of the ultrasonic detector. To solve this problem, a detection robot consists of multi-degree-of-freedom robotic arm and a special platform is designed in this paper. A modular approach is adopted to deal with the robot control system, and the hardware structure composed of motion controller, driver, sensor and computer is designed. The corresponding control software is developed according to the non-destructive testing method of reactor pressure vessel, so as to realize the remote motion control of the robot. System simulation and field test show that the system has stable performance, strong practicability, and meets the design requirements, which has a certain reference value.