核电站检修主从式水下作业机械手研究

摘要

A 6-DOFs homogeneous master-slave underwater manipulator was designed for servicing of nuclear power plant reactors and spent fuel storage pools.A separated scale mapping model was built for the master-slave manipulator.A hydrodynamic model for the underwater manipulator was established based on the slice theory.A master-slave controller based on fuzzy-PID was designed for the manipulator according to its strong non-linearity.Finally, a two-joint test system for the master-slave manipulator was set up by using the dsPACE semi-physical simulation platform to verify the real-time tracking performance of the manipulator so as to lay the foundation for the whole machine control of multi-drive underwater manipulators.The experimental results showed that the master-slave manipulator was well in tracking capability, and the shape of the terminal trajectory of the master manipulator was nearly the same as that of the slave manipulator, and they were proportional in size, showing that the preferable position tracking and the high accuracy of position servo can be achieved when using the fuzzy-PID controller.%研制了适用于核电站反应堆和乏燃料水池水下作业的六自由度同构型主从式水下机械手.建立了从机械手水动力学模型,针对主从式机械手具有的强非线性,设计了一种基于模糊PID控制的主从控制器.采用dsPACE半物理仿真平台,搭建了主从式机械手两关节测试系统,验证了主从实时跟随性,为水下作业机械手整机控制奠定基础.实验结果表明主从手关节角度跟随性好,主从手末端位置跟随过程形成的轨迹形状基本一致,大小成比例,证明模糊PID控制器能较好地实现主从轨迹跟随,满足位置伺服精度要求.