蒸汽发生器检修机械臂关节控制和轨迹优化研究的中期报告.docx

蒸汽发生器检修机械臂关节控制和轨迹优化研究的中期报告
Abstract:Thismid-termreportfocusesonthejointcontrolandtrajectoryoptimizationofthemechanicalarmusedforthemaintenanceofsteamgenerators.Firstly,themechanicalarmcontrolsystemwasanalyzedandthejointcontrolalgorithmwasdesignedandimplemented.Then,theoptimizationofmechanicalarmtrajectorywasresearchedandanoptimizationalgorithmbasedonthegeneticalgorithmwasproposed.Finally,theexperimentalresultsshowthattheproposedjointcontrolalgorithmandtrajectoryoptimizationalgorithmcaneffectivelyimprovetheefficiencyandaccuracyofmaintenanceoperations.
Keywords:steamgenerator,mechanicalarm,jointcontrol,trajectoryoptimization,geneticalgorithm
1.Introduction
Steamgeneratorsareimportantequipmentinpowerplants,andtheirmaintenanceisessentialtoensuretheirsafeandefficientoperation.However,duetothecomplexstructureandconfinedspaceofthesteamgenerators,itischallengingforoperatorstoperformmaintenanceoperationsmanually.Therefore,theuseofmechanicalarmsformaintenanceoperationshasbecomeincreasinglypopular.
Themechanicalarmusedforsteamgeneratormaintenanceistypicallycomposedofseveraljoints,anditscontrolsystemrequiresprecisejointcontrolandaccuratetrajectoryplanning.Inthismid-termreport,wefocusonthejointcontrolandtrajectoryoptimizationofthemechanicalarm.
2.Jointcontroldesignandimplementation
Themechanicalarmusedforsteamgeneratormaintenancetypicallyhasseveraljoints,includingthebasejoint,shoulderjoint,elbowjoint,wristjoint,andendeffectorjoint.Thejointanglesneedtobeaccuratelycontrolled,andthejointmotionneedstobecoordinatedtoachievesmoothandefficientmovement.
Toachievethis,wedesignedajointcontrolalgorithmbasedontheproportional-integral-derivative(PID)controller.Thejointanglesweremeasuredbythesensorsandinputtothecontrolsystem.ThePIDcontrollercalculatedtheerrorbetweenthetargetjointangleandthemeasuredjointangle,andthenadjustedthejointpositionaccordingly.
ThejointcontrolalgorithmwasimplementedinaLabVIEWprogram,whichwasusedtocontrolthejointmovementofthemechanicalarm.TheLabVIEWprogramprovidedauseri