蒸汽发生器二次侧检测用爬壁式移动机械臂控制系统设计

Design of control system of wall-climbing mobile manipulator for steam generator secondary side detection

根据对现有爬壁类机器人控制系统研究现状的分析,针对国内外在控制系统研究思路上所存在的不足,从蒸汽发生器二次侧检测用爬壁式移动机械臂的实际应用角度出发,文中设计了一套基于运动学模型的爬壁式移动机械臂控制系统,该系统包含了机器人定位系统设计、轨迹跟踪控制系统设计和基于机器人控制状态划分设计的上位机软件等3个部分。通过上位机软件将机器人的运动控制需要转化为通信指令,向机器人下达位姿控制命令,能够实现爬壁式移动机械臂在蒸汽发生器二次侧密闭狭窄空间中实际作业需求。该控制系统设计方法能为机器人高精度作业实现提供良好的基础,从而扩大机器人的安全运行范围、提升作业效率,并为未来的无人化自动检测提供有利条件。

According to the research status of the existing wall-climbing robot control system,focusing on the deficiencies in the research ideas of control system at home and abroad,and starting from the practical application of the wall-climbing mobile manipulator for the secondary side detection of steam generator,a wall-climbing mobile manipulator control system based on kinematics model is proposed,which consists of three parts,including the robot positioning system design,trajectory tracking control system design and PC software design based on the robot control state division.Through the host computer software,the motion control needs of the robot are converted into communication instructions,and the pose control commands are sent to the robot,which can meet the actual operation requirements of the wall-climbing mobile manipulator in the closed and narrow space at the secondary side of the steam generator.The design method of the control system lays a good foundation for the high-precision operation of the robot,thereby expanding the safe operation range of the robot,improving the operation efficiency,and providing favorable conditions for future unmanned automatic detection.