蒸汽发生器检测机器人运动分析与控制实现  

Motion Analysis and Control realization of Inspection Robot to Steam Generator

作　　者：王力[1,2] 谈恩民[1] 吴新宇[2] 傅睿卿[2] 孙健铨[2] 刘青松 

机构地区：[1]桂林电子科技大学电子工程与自动化学院,广西桂林541004 [2]中国科学院深圳先进技术研究院广东省机器人与智能系统重点实验室,广东深圳518055 [3]中科华核电技术研究院,广东深圳518026

出　　处：《计算机测量与控制》2015年第5期1542-1544,1548,共4页Computer Measurement &Control

基　　金：深圳市科技创新计划资助项目(Y3A1011001)

摘　　要：在核电站蒸汽发生器复杂环境下,为准确控制机器人完成管板检测任务,提出了一种基于STM8处理器的爬壁机器人运动控制方法;针对机器人两个不同轴线驱动轮的结构特点,运用运动学理论建立了机器人运动方程,分析了机器人的运动特性;设计了爬壁机器人硬件控制电路,为提高机器人的控制精度,采用了位置环,速度环和电流环三环PID软件控制策略;最后,对此控制方法进行了相关实验验证;实验结果表明,爬壁机器人控制电路设计合理可靠,三环PID算法实现了较好的运动效果,满足设计要求。In order to control robot to finish the inspection of tubes in the complicated surroundings of steam generator, the article pro- poses a motion control method for wall - climbing inspection robot which is based on STM8 mcu. As the robot is driven by two different axes drive wheel, kinematics equation is built by kinematic theory, and motion characteristics of robot are analyzed. The control circuit of wall- climbing robot is designed. Method of PID software control which is based on position loop, speed loop and electric current loop is adopted to improve the accurate control of robot. Experiments are conducted to prove the control method. The results demonstrate that the design of in- spection robot control circuit is reliable, and well motion performance of PID with three- loop is achieved, which meet the design require- ments.

关 键 词：爬壁机器人 运动分析 电路设计 STM8 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]