自动开封盖机器人系统设计及控制

发布时间：2018-05-22 12:59

本文选题：自动开封盖机器人 + 模块化设计　；参考：《电子科技大学》2017年博士论文

【摘要】：近年来,我国核电站在高精尖设备研发及技术开发方面取得了长足的进步,形成了一系列具有代表性的出口产品,但是也有部分核电站设备和技术,仍然依赖进口,不利于核电设备的升级改造和维护,以及核电站技术的整体出口。作为核电站“三废”(废物、废气、废液)处理系统之一的固体废物处理系统在核电站的能量循环系统中处于非常重要的位置,而自动开封盖机器人作为该系统的核心设备,在我国核电站一直依赖国外进口。本文开展的工作即是针对核电站固体废物处理系统中的自动开封盖机器人的系统设计及控制进行的研究,旨在打破国外垄断,研制具有完全自主知识产权的国产化设备。自动开封盖机器人是固体废物处理系统中最精密的设备,用于对贮存中、低放射性废物的400L金属桶进行开盖和封盖操作。本文主要研究工作如下:1、论述了基于模块化设计思想设计的自动开封盖机器人机械系统,按功能将自动开封盖机器人分成平动模块、升降模块、定位模块、桶盖分离模块、拧紧轴模块和支撑存盖模块等六大功能模块,详细阐述了每个模块的设计方法和功能,并且对关键部件进行了受力仿真分析。同时对自动开封盖机器人的桶中心定位、螺钉及螺钉孔定位、无动力存放桶盖等关键技术进行研究并提出实现方法;2、为解决由于自动开封盖机器人运行过程中存在间隙特性,影响定位模块的定位精度问题,根据旋转模块的特点设计了一种机械消隙装置,并通过仿真分析验证了该装置的有效性。同时针对平动模块及升降模块存在的丝杠传动反向间隙,提出了一种基于前馈控制的间隙区加减速控制方法,通过仿真分析和实验验证,证明了该方法的有效性;3、整个自动开封盖机器人工作流程中最关键的任务是保证盛装固体废物的金属桶的紧固螺钉的拧紧质量。为解决拧紧轴拧入螺钉操作在常规控制方法下经常出现扭矩超调的问题,基于拧紧轴模块的设计,建立了相应的拧紧轴模型和拧紧过程模型,并将两者结合成一个整体模型。在此模型基础上,针对非线性的扭矩-转角系数,提出了一种基于反演控制(Backstepping Control)的模糊自适应控制方法,同时进一步简化拧紧轴系统模型,在把扭矩-转角系数简化成一个常数的情况下,提出了一种增强型变增益PID(Proportion Integration Differentiation)控制器。经过仿真分析和实验验证,两种控制方法的控制性能显著优于常规的控制方法,使螺钉的拧紧质量得到保证;4、结合故障模式、影响和危害性分析(Failure Modes and Effect Criticality Analysis,FMECA)和故障树分析(Fault Tree Analysis,FTA)两种可靠性设计中的分析方法对初步构建的自动开封盖机器人硬件平台进行故障分析,在此基础上筛选出自动开封盖机器人的关键故障点,并针对这些关键故障点进行了自动开封盖机器人的可靠性分析和改进;5、在机械系统设计的基础上进行了动力设备及关键部件的选型计算和分析,在确保满足各项功能的前提下,基于上述研究工作,研制了一台自动开封盖机器人原理样机,通过对原理样机的系列实验,验证了本文所提的系统设计方案以及控制方法的合理性与有效性。
[Abstract]:In recent years, China's nuclear power plant has made great progress in the research and development of high precision equipment and technology development, and has formed a series of representative export products, but also some nuclear power plant equipment and technology, still rely on import, not conducive to the upgrading and maintenance of nuclear power equipment, as well as the overall export of nuclear power plant technology. The solid waste treatment system of the "three wastes" (waste, waste gas and waste liquid) treatment system in the power station is very important in the energy circulation system of the nuclear power plant. As the core equipment of the system, the automatic open cover robot is always dependent on the foreign import in the nuclear power station of our country. This paper is aimed at the solid power plant solid. The research on the system design and control of the automatic opening cover robot in the waste disposal system aims to break the foreign monopoly and develop domestic equipment with fully autonomous intellectual property rights. The automatic open cover robot is the most precise equipment in the solid waste treatment system for the 400L metal bucket of low radioactive waste in storage. The main research work in this paper is as follows: 1, the automatic opening cover robot mechanical system based on modular design thought was discussed. The automatic opening cover robot was divided into six functional modules, such as the translational module, the lifting module, the positioning module, the barrel cover module, the tightening shaft module and the supporting memory cover module. The design method and function of each module are described in detail, and the key components are simulated and analyzed. At the same time, the key technologies of the automatic opening cover robot, such as the location of the bucket center, the positioning of the screw and screw holes, the unpowered storage of the barrel cover, are studied and the implementation methods are put forward. 2, to solve the operation of the automatic opening cover robot. There is a gap characteristic in the process, which affects the positioning accuracy of the positioning module. A mechanical clearance device is designed according to the characteristics of the rotating module. The effectiveness of the device is verified by simulation and analysis. At the same time, a kind of gap zone addition based on feedforward control is put forward in view of the reverse gap between the translation module and the lifting module. The effectiveness of the method is proved by the simulation analysis and experimental verification. 3, the key task in the working process of the entire automatic open seal cover robot is to ensure the tightening quality of the fastening screws for the metal barrel of the solid waste. The problem of overshoot, based on the design of the tightening shaft module, set up the corresponding tightening shaft model and the tightening process model, and combine the two into a whole model. On the basis of this model, a fuzzy adaptive control method based on the inverse control (Backstepping Control) is proposed for the nonlinear torque - angle coefficient. One step simplifies the tightening shaft system model. In the case of simplifying the torque angle coefficient into a constant, an enhanced variable gain PID (Proportion Integration Differentiation) controller is proposed. Through simulation analysis and experimental verification, the control of the two control methods can be significantly better than the conventional control method to tighten the screw. The quality is guaranteed; 4, on the basis of the failure analysis of the two reliability design methods of the Failure Modes and Effect Criticality Analysis, FMECA) and the fault tree analysis (Fault Tree Analysis, FTA), the failure analysis of the preliminarily constructed automatic open capping machine human hardware platform is selected. The key fault points of the robot are opened and sealed, and the reliability analysis and improvement of the automatic open sealing cover robot are carried out for these key points. 5, on the basis of the mechanical system design, the selection calculation and analysis of the power equipment and key components are carried out. Based on the above research work, the research work is made to ensure that the functions of the robot are satisfied. A prototype of an automatic open cover robot is introduced. Through a series of experiments on the principle prototype, the rationality and effectiveness of the proposed system design and control method are verified.
【学位授予单位】：电子科技大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】