核电水池推力附着机器人系统设计

doi:10.13229/j.cnki.jdxbgxb20170813

摘要/Abstract

摘要：

为了实现机器人对核电站水池的应急焊接修复作业和日常巡查工作,本文针对池底、池壁存在凹凸和管道等障碍的复杂环境,提出了一种具备水下全方位运动功能,并能通过推进器推力实现附着定位的有缆型水下机器人系统。分析了机器人作业装置与机器人本体配合运动时,重心、浮心和转动惯量的变化情况,建立了机器人的动力学模型;通过在Matlab/Simulink环境下仿真计算,对比分析了无推力输入时机器人重心、浮心位置调节前、后机器人位姿随时间变化情况,以及调节重心、浮心位置对于机器人翻转效率的影响。计算结果表明,通过调节重心与浮心位置,可以增强无推力输入时机器人姿态稳定性,并有效提高机器人翻转运动的效率,为实现机器人的精确控制打下良好基础。

关键词: 自动控制技术, 水下机器人, 推力附着, 系统设计, 动力学模型

Abstract:

It is an important application of robot in the field of nuclear power station to realize welding for a nuclear reaction pool in emergency and patrol daily. A cable underwater robot system with a full range of motion which can attach on the wall by propellers was put forward in consideration of bump and pipeline at the bottom or side wall of the reaction pool. The changes of the center position of gravity, the center position of buoyancy and the moment of inertia were analyzed when the movements of the body and an operating device cooperate with each other, and a dynamic model of the robot was established. The position and attitude changes with time were compared before and after adjusting the position of an operating device under no thrust input by Matlab/Simulink. The rotating efficiency of a robot was analyzed by regulating the position of gravity, buoyancy center. The results demonstrate that the attitude stability of the robot without thrust input is increased and the rotation efficiency is improved by adjusting the position of an operating device. The dynamic equation for this robot lays a good foundation for controller design.

Key words: automatic control technology, underwater robot, thrust attachment, system design, dynamic model

中图分类号:

TP242.6

李战东,陶建国,罗阳,孙浩,丁亮,邓宗全. 核电水池推力附着机器人系统设计[J]. 吉林大学学报(工学版), 2018, 48(6): 1820-1826.

LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.

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参考文献 13

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