火电厂凝汽器清洗机器人的控制系统研究
|
摘要
凝汽器是火电厂的关键设备之一,在大型汽轮机装置的热力循环中起冷源的作用,能降低汽轮机排汽压力和温度,提高汽轮发电机组的循环热效率。凝汽器运行时,由于冷却水不洁净、热交换时伴随化学反应等原因,致使冷凝管内壁积聚了不利于传热的污垢,冷凝管的污垢将产生一系列危害:严重削弱凝汽器的换热能力,引起真空度降低、能耗增加,还可能导致冷凝管堵塞甚至造成管壁腐蚀穿孔而引发事故。论文依托湖南省产业研发项目和湖南省科技攻关项目,结合国家安全高效生产、节能降耗的需求,分析了现有污垢清洗方法的优点与不足,针对凝汽器在线清洗的具体要求,提出了一种火电厂凝汽器在线清洗的新方案,设计了凝汽器清洗机器人的体系结构,重点研究了该机器人的控制系统。
根据凝汽器的水室结构及管束布局,论文首先介绍了清洗机器人的体系结构,设计了一具有两关节机器臂、履带式移动车体的新型清洗机器人,重点研究了机器人控制系统。然后,详细开发了清洗机器人控制系统的软硬件,该控制系统由工控机、PLC和触摸屏等组成。工控机作为上位机通过RS-485串行接口总线监控清洗机器人的运行状态;PLC作为下位机主控制器控制清洗机器人的机电设备;触摸屏作为现场的人机交互窗口实现现场设备的操作和状态信息的显示。最后,针对高压水射流的压力控制,设计了PID控制器,实验结果表明,该控制器能够使高压水压力自动调节,并稳定在设定值附近;针对清洗机器人的化学药剂投加量、电液伺服阀和两关节机器臂清洗喷枪精确定位等控制问题,分别设计了相应的自适应模糊PID控制器,实验结果表明,所设计的控制器均能满足清洗机器人的控制要求。
论文的研究成果解决了火电厂凝汽器污垢在线自动化清洗的问题,改善了凝汽器传热效果,提高了汽轮机组的运行效率,为火电厂凝汽器的安全高效运行提供了保障。
Condenser is one of the key equipments in thermal power plant. It is the cold source of the thermodynamic cycle of the large steam turbine, and it can decrease the exaust pressure and temperature of the steam turbine, and enhance the cycle thermal efficiency of the turbogenerator. Due to the unpure cooling water and chemical reactions during heat exchange when the condenser is running, the fouling not favorable for heat tranfer is accumulated in the inner wall of condenser tube. These fouling has subsequent of harms: severely decreases the heat exchange capacity of the condenser; lowers the vacuum degree; increases energy consumption; and probably leads to accidence due to the occulation of condenser tube and followed by erosion and perforation. According to industry R&D projects in Hunan Province and Hunan scientific and technological project, and the high-efficiently safe production and energy saving requirment of the nation, we analyzed the advantages and disadvantages of the current fouling-cleaning methods, and desined a new scheme for condenser fouling cleaning in power plants by a robot, whose system structure and control system were well designed and explainated.
According to the water chamber instructure and tube bundle layout of the condenser, first of all, this thesis introduced the system insructure of the robot: the two-joint manipulator arm, and the track mobile robot body. The contol system of the robot was well studied. Then, the software and hardware of the robot control system was well developed. The control system consists of industrial computer, PLC and touch screen. As host computer, the industrial computer monitors robot’s operation process through RS-485 serial interface bus. As the key control device of slave computer, PLC controls the electromechanical equipment of the robot through serial interface bus. As the field window of human-computer interface, touch screen realizes the operation of the field devices and indication of the status information. Finally, controller of PID was designed accroding to the pressure control requirment of the high pressure water jet. Studies showed that such controller could make pressure of high pressure water self-regulating and steady in the scheduled value; and the self-adaptive fuzzy PID controller was designed and verified by the study to satisfy the control requirment of the cleaning robot, such as adding chemical drug dosages, accurate location for electro-hydraulic servo valve and two-joint arm cleaning spray gun, and so on.
The results of the study resolved the problem of the automaticlly cleaning of condenser fouling in power plant; improved the effect of heat transfer of condenser; increased the operation efficiency of steam turbine unit; and secured the safe and efficient operation of condenser in power plant.
根据凝汽器的水室结构及管束布局,论文首先介绍了清洗机器人的体系结构,设计了一具有两关节机器臂、履带式移动车体的新型清洗机器人,重点研究了机器人控制系统。然后,详细开发了清洗机器人控制系统的软硬件,该控制系统由工控机、PLC和触摸屏等组成。工控机作为上位机通过RS-485串行接口总线监控清洗机器人的运行状态;PLC作为下位机主控制器控制清洗机器人的机电设备;触摸屏作为现场的人机交互窗口实现现场设备的操作和状态信息的显示。最后,针对高压水射流的压力控制,设计了PID控制器,实验结果表明,该控制器能够使高压水压力自动调节,并稳定在设定值附近;针对清洗机器人的化学药剂投加量、电液伺服阀和两关节机器臂清洗喷枪精确定位等控制问题,分别设计了相应的自适应模糊PID控制器,实验结果表明,所设计的控制器均能满足清洗机器人的控制要求。
论文的研究成果解决了火电厂凝汽器污垢在线自动化清洗的问题,改善了凝汽器传热效果,提高了汽轮机组的运行效率,为火电厂凝汽器的安全高效运行提供了保障。
Condenser is one of the key equipments in thermal power plant. It is the cold source of the thermodynamic cycle of the large steam turbine, and it can decrease the exaust pressure and temperature of the steam turbine, and enhance the cycle thermal efficiency of the turbogenerator. Due to the unpure cooling water and chemical reactions during heat exchange when the condenser is running, the fouling not favorable for heat tranfer is accumulated in the inner wall of condenser tube. These fouling has subsequent of harms: severely decreases the heat exchange capacity of the condenser; lowers the vacuum degree; increases energy consumption; and probably leads to accidence due to the occulation of condenser tube and followed by erosion and perforation. According to industry R&D projects in Hunan Province and Hunan scientific and technological project, and the high-efficiently safe production and energy saving requirment of the nation, we analyzed the advantages and disadvantages of the current fouling-cleaning methods, and desined a new scheme for condenser fouling cleaning in power plants by a robot, whose system structure and control system were well designed and explainated.
According to the water chamber instructure and tube bundle layout of the condenser, first of all, this thesis introduced the system insructure of the robot: the two-joint manipulator arm, and the track mobile robot body. The contol system of the robot was well studied. Then, the software and hardware of the robot control system was well developed. The control system consists of industrial computer, PLC and touch screen. As host computer, the industrial computer monitors robot’s operation process through RS-485 serial interface bus. As the key control device of slave computer, PLC controls the electromechanical equipment of the robot through serial interface bus. As the field window of human-computer interface, touch screen realizes the operation of the field devices and indication of the status information. Finally, controller of PID was designed accroding to the pressure control requirment of the high pressure water jet. Studies showed that such controller could make pressure of high pressure water self-regulating and steady in the scheduled value; and the self-adaptive fuzzy PID controller was designed and verified by the study to satisfy the control requirment of the cleaning robot, such as adding chemical drug dosages, accurate location for electro-hydraulic servo valve and two-joint arm cleaning spray gun, and so on.
The results of the study resolved the problem of the automaticlly cleaning of condenser fouling in power plant; improved the effect of heat transfer of condenser; increased the operation efficiency of steam turbine unit; and secured the safe and efficient operation of condenser in power plant.
引文
[1] 杨善让.汽轮机凝汽设备及运行管理.北京:水利电力出版社,1993:1-3
[2] 沈士一,庄贺庆,康松等.汽轮机原理.北京:水利电力出版社,1997:210-214
[3] 黄保海,白玉,牛卫东.汽轮机原理与构造.北京:中国电力出版社,2002:23-30
[4] 吴季兰主编.汽轮机设备及系统.北京:中国电力出版社,2006:103-106
[5] 韩中合,田松峰,马晓芳.火电厂汽机设备及运行.北京:中国电力出版社,2002:95-99
[6] 杨善让,徐志明,孙灵芳.换热设备污垢与对策.北京:科学出版社,2004:109-112
[7] 周本省.工业水处理技术.北京:化学工业出版社,1997:57-60
[8] 刘雪峰,刘金平,孔庆军.考虑污垢因素的凝汽器经济性分析.电站系统工程, 2002,18(6):29-31
[9] 徐志明.电站凝汽器污垢费用估算.动力工程,2005,25(1):102-106
[10] Thackery P A. The cost of fouling in heat exchanger plant. Effluent and Water Treatment Journal,1980,12(2):34-41
[11] Van Nostrand WL, Leach Jr S H. Economic penalties associated with the fouling of refinery heat transfer equipment. Fouling of Heat Transfer Equipment, 1981,8(5):619-643
[12] 衡世权,姜莉.换热器腐蚀污垢的形成机理及其防治措施.节能,2004,22(4): 37-41
[13] 衡世权,杨广华,吴立锋.神经网络在腐蚀污垢热阻预测中的应用.全面腐蚀控制,2004,18(1):11-13
[14] 窦照英.凝汽器的清洗.化学清洗,1998,14(2):12-15
[15] 王秉国,黎志飞(译).冷凝器防腐和清理方法.长沙:湖南电力试验研究所,1991: 137-139
[16] G. I. Efimochkin and S. G. Shipilev. Development of Systems for Ball Cleaning of Condensers and Experience of Their Operation,Power Technology and Engineering, 2002,36(2): 67–70
[17] 吴华,华祥惠.国外喷丸清洗技术的发展.化学清洗,1998,14(1):33-35
[18] 张少峰,刘燕.换热设备防除垢技术.北京:化学工业出版社,2003:102-107
[19] 吕海潮.胶球系统收球率低的分析及其对策.电力学报,2000,15(4):254-258
[20] 杨善让.汽轮机凝汽设备及运行管理.北京:水利电力出版社,1993:78-79
[21] Burck, Alan C. Dirr, Kenneth R., Horn, Daniel T. High pressure turbinechemical cleaning, Proceedings of the American Power Conference, 1991,53(2):750-755
[22] Foster, Charles; Harvey, James F.; Horvath, Jack W. Chemical foam cleaning technology for steam and gas turbines ,TAPPI Fall Technical Conference: Engineering, Pulping and PCE and I, Proceedings, 2003:3023-3034
[23] Harper W J.Sanitation in dairy food plants. Westport:AVI Pub Company Inc, 1972:167-173
[24] Jennings W G. Theory and practice of hard surface cleaning.Advance foods research,1970,14(2):325-348
[25] 倪诚,柳胜春,向军淮.化学清洗技术及其应用.化学清洗,1997,13(4):23-25
[26] 江萍.循环水系统在线化学清洗技术的应用.工业水处理,2003,3(9):77-79
[27] Matsushita, Makoto. High pressure water jet canvas cleaning technology ,Kami Pa Gikyoshi/Japan Tappi Journal, 2005, 59(12):49-54
[28] Meng, P. , Leu, M.C., Geskin, E.S.; Tismenetskiy, L. Cleaning with high-pressure directed waterjets ,Proceedings of the Japan-USA Symposium on Flexible Automation-1996, 1996,2:1131
[29] Taylor, Sidney A.,Chapman, Gerald. Cleaning pipelines using high-pressure water jets, Materials Performance, 1991,30(9):25-28
[30] Gensheng, Li,Zhongwei, Huang; Debin, Zhang; Jilei, Niu. Combined high pressure water jetting and acidizing method for perforation cleaning and formation treatment: Mechanisms and applications ,Petroleum Science and Technology, 2006,24(5):459-468
[31] Yoichi Nagao, Hironobu Urabe, Fumihiro Honda. Development of a teachingless robot system for welding a large-sized box-type construction , Advanced Robotics, 2001,15(3):287–291
[32] Yoshifumi Isozaki and Kimikazu Nakai. Development of a work robot with a manipulator and a transport robot for nuclear facility emergency preparedness, Advanced Robotics , 2002,16(6): 489–492
[33] 顾震宇.全球工业机器人产业现状与趋势.机电一体化,2006,2:6-9
[34] 李瑞峰.新一代工业机器人系列产品开发.机器人,2001,23(1):633-635
[35] Erwin Prassler, Arno Ritter, Christoph Schaefferand Paolo Fiorini. A Short History of Cleaning Robots, Autonomous Robots, 2000,9(3): 211-226
[36] Ryo Kurazume and Shigeo Hirose. Development of a Cleaning Robot System with Cooperative Positioning System,Autonomous Robots, 2000,9(3):237-246
[37] 杨雄.风管清洗机器人国产化研究及应用.清洗世界,2004,20(11):37-40
[38] 张兆君,颜宁,宗光华.壁面吊挂清洗机器人真空吸附力和牵引力设计研究.机器人,2005,27(1):57-62
[39] 唐伯雁,张慧慧,费仁元等.圆锥幕墙清洗机器人系统研制.仪器仪表学报,2004, 25(4):168-170
[40] Leoncio Briones Paul Bustamante and Miguel. A Serna Wall-climbing Robot for Inspection in Nuclear Power Plants. Proceedings IEEE International Confernce on Robotics and Automation,1994:1409-1414
[41] Zhi-Yuan Qian, Yan-Zheng Zhao, Zhuang Fu and Qi-Xin Cao. Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups,The International Journal of Advanced Manufacturing Technology, 2006,30(1):Pages:147–155
[42] 张厚祥,刘荣,王巍等.爬壁机器人气动位置伺服控制研究.北京航空航天大学学报,2004,30(8):705-708
[43] 罗均,吕恬生,张家梁等.缆索维护机器人系统的研制.上海交通大学学报,2000, 34(3):360-362
[44] Xie, Xiao-Peng Xia, Hong-Wei; Yang, Ru-Qing. High-voltage live cleaning robot design based on security,Journal of Harbin Institute of Technology (New Series), 2005,12(5):590-594
[45] 鲁守银,培荪,戚晖等.绝缘子带电清洗.电力系统自动化,2003,27(17):56-58
[46] 王丽惠.水下船体表面清刷机器人及相关技术研究.哈尔滨:哈尔滨工程大学,2002,10(3):13-16
[47] 李景春,蒋玉洁,张国忠.飞机表面清洗机器人系统设计.组合机床与自动化加工技术,2004,10:68-69
[48] K.D.Rupp FhG/IPA O.Wurst Putzmeister. Implementation of CAN-system in truck-based aircraft washing system.International CAN Conference in Mainz (Germany),1994(1):1-9
[49] 曾我知克,航空機自動洗净装置. ロボッ.1995,98:16-23
[50] 顾震宇.全球工业机器人产业现状与趋势.机电一体化,2006,2:6-9
[51] 長塚謙一.真空吸着壁面自走車“バッスクス”ロボット.No.53,1986:127-135
[52] 浦上不可止.吸着自走式清掃ロボット.日本ロボット学会誌.VOL.l0.No.5, 1992:59-60
[53] Hitachi Zosen,CEPCO. Condenser Tube Cleaning and Inspection Robot. http://www.energia-pet.com/e/info/T-P6/2/T-P6-2_fukusuiki.html
[54] 樊绍胜,刘社开.在线清洗热交换器的水中作业机器人.中国专利:03248144.6, 2004-08-11
[55] 彭伟,陈宁.电厂冷凝器高压水射流在线清洗机器人技术.中国专利: 200520069296.9, 2005-05-10
[56] 杨林,唐川林,张凤华.高压水射流技术的发展及应用.洗净技术,2004,1:9-14
[57] 窦照英.电力工业清洗技术.北京:化学工业出版社,2005:402-427
[58] 张利平.液压控制系统及设计.北京:化学工业出版社,2006:1-8
[59] 徐正飞,许春权等. 基于 ICP 和 PLC 的移动机器人控制系统设计.机械与电子,2001,4:25-27
[60] 刘淼,赵群飞,杨汝清,翁新华. 基于 PLC 的防爆机器人控制系统设计.机械, 2004,31(1):37-39
[61] 韩军. PLC 在变频调速仿形喷涂机器人控制系统中的应用.制造业自动化, 2000,22(10):55-56,62
[62] 郭悦,徐国华,向先波等.智能水下机器人自救系统的可靠性预计.机械与电子,2006,11:53-55
[63] 许广清. 8A4 水下机器人控制系统.船舶工程,1997,3:42-45
[64] 黄永红,吉裕晖,杨东. PLC 控制电机变频调速试验系统的设计与实现.电机与控制应用,2007,34(10):40-43,56
[65] 张全庄,段峻.PLC 在恒压供水变频调控制系统中的应用.变频器世界,2005,2: 92-94
[66] 刘平.自动加药系统在石化行业锅炉水处理中的应用.自动化与仪器仪表,2007, 3:36-38
[67] 孙立忠,冀玉春,吕琳.循环水加药变频自动控制.东北电力技术,2002,4:47-48
[68] 方千山,王永初.模糊 PID 控制器及其应用.厦门大学学报(自然科学版),2001, Z1:1-4
[69] W. D. Chang, R. C. Hwang, J. G. Hsieh. Application of an Auto-Tuning Neuron to Sliding Mode Control. IEEE Trans. Syst., Man, Cybern, 2002, 32(4): 517-522
[70] K. Erbatur, O. Kaynak. Use of Adaptive Fuzzy Systems in Parameter Tuning of Sliding-Mode Controllers. IEEE/ASME Trans. Mechatronics, 2001, 6(4): 474-482
[71] C. Ham, Z. Qu. A New Nonlinear Learning Control for Robotic Manipulators. Advanced Robotics, 1996,10(1):1-15
[72] 王耀南.机器人智能控制工程.北京:科学出版社,2004:7-14
[73] 王耀南.智能控制系统.长沙:湖南大学出版社,2006:40-47
[74] 孙炜.智能神经网络的机器人控制理论方法研究:[湖南大学博士学位论文] .长沙:湖南大学,2002:5-8
[75] 张洪涛.电液伺服阀控制液压马达速度伺服系统的研究.[北京交通大学硕士学位论文].北京:北京交通大学,1999:35-38
[76] 诸静.模糊控制原理与应用.机械工业出版社,2003:194-212
[77] 陈移风,邢安娜.光电增量式轴角编码器的数字信号处理.小型微型计算机系统,2001,17(8):36-40
[78] 李其朋,丁凡.电液伺服阀技术研究现状及发展趋势.工程机械,2003,16(6): 28-33
[2] 沈士一,庄贺庆,康松等.汽轮机原理.北京:水利电力出版社,1997:210-214
[3] 黄保海,白玉,牛卫东.汽轮机原理与构造.北京:中国电力出版社,2002:23-30
[4] 吴季兰主编.汽轮机设备及系统.北京:中国电力出版社,2006:103-106
[5] 韩中合,田松峰,马晓芳.火电厂汽机设备及运行.北京:中国电力出版社,2002:95-99
[6] 杨善让,徐志明,孙灵芳.换热设备污垢与对策.北京:科学出版社,2004:109-112
[7] 周本省.工业水处理技术.北京:化学工业出版社,1997:57-60
[8] 刘雪峰,刘金平,孔庆军.考虑污垢因素的凝汽器经济性分析.电站系统工程, 2002,18(6):29-31
[9] 徐志明.电站凝汽器污垢费用估算.动力工程,2005,25(1):102-106
[10] Thackery P A. The cost of fouling in heat exchanger plant. Effluent and Water Treatment Journal,1980,12(2):34-41
[11] Van Nostrand WL, Leach Jr S H. Economic penalties associated with the fouling of refinery heat transfer equipment. Fouling of Heat Transfer Equipment, 1981,8(5):619-643
[12] 衡世权,姜莉.换热器腐蚀污垢的形成机理及其防治措施.节能,2004,22(4): 37-41
[13] 衡世权,杨广华,吴立锋.神经网络在腐蚀污垢热阻预测中的应用.全面腐蚀控制,2004,18(1):11-13
[14] 窦照英.凝汽器的清洗.化学清洗,1998,14(2):12-15
[15] 王秉国,黎志飞(译).冷凝器防腐和清理方法.长沙:湖南电力试验研究所,1991: 137-139
[16] G. I. Efimochkin and S. G. Shipilev. Development of Systems for Ball Cleaning of Condensers and Experience of Their Operation,Power Technology and Engineering, 2002,36(2): 67–70
[17] 吴华,华祥惠.国外喷丸清洗技术的发展.化学清洗,1998,14(1):33-35
[18] 张少峰,刘燕.换热设备防除垢技术.北京:化学工业出版社,2003:102-107
[19] 吕海潮.胶球系统收球率低的分析及其对策.电力学报,2000,15(4):254-258
[20] 杨善让.汽轮机凝汽设备及运行管理.北京:水利电力出版社,1993:78-79
[21] Burck, Alan C. Dirr, Kenneth R., Horn, Daniel T. High pressure turbinechemical cleaning, Proceedings of the American Power Conference, 1991,53(2):750-755
[22] Foster, Charles; Harvey, James F.; Horvath, Jack W. Chemical foam cleaning technology for steam and gas turbines ,TAPPI Fall Technical Conference: Engineering, Pulping and PCE and I, Proceedings, 2003:3023-3034
[23] Harper W J.Sanitation in dairy food plants. Westport:AVI Pub Company Inc, 1972:167-173
[24] Jennings W G. Theory and practice of hard surface cleaning.Advance foods research,1970,14(2):325-348
[25] 倪诚,柳胜春,向军淮.化学清洗技术及其应用.化学清洗,1997,13(4):23-25
[26] 江萍.循环水系统在线化学清洗技术的应用.工业水处理,2003,3(9):77-79
[27] Matsushita, Makoto. High pressure water jet canvas cleaning technology ,Kami Pa Gikyoshi/Japan Tappi Journal, 2005, 59(12):49-54
[28] Meng, P. , Leu, M.C., Geskin, E.S.; Tismenetskiy, L. Cleaning with high-pressure directed waterjets ,Proceedings of the Japan-USA Symposium on Flexible Automation-1996, 1996,2:1131
[29] Taylor, Sidney A.,Chapman, Gerald. Cleaning pipelines using high-pressure water jets, Materials Performance, 1991,30(9):25-28
[30] Gensheng, Li,Zhongwei, Huang; Debin, Zhang; Jilei, Niu. Combined high pressure water jetting and acidizing method for perforation cleaning and formation treatment: Mechanisms and applications ,Petroleum Science and Technology, 2006,24(5):459-468
[31] Yoichi Nagao, Hironobu Urabe, Fumihiro Honda. Development of a teachingless robot system for welding a large-sized box-type construction , Advanced Robotics, 2001,15(3):287–291
[32] Yoshifumi Isozaki and Kimikazu Nakai. Development of a work robot with a manipulator and a transport robot for nuclear facility emergency preparedness, Advanced Robotics , 2002,16(6): 489–492
[33] 顾震宇.全球工业机器人产业现状与趋势.机电一体化,2006,2:6-9
[34] 李瑞峰.新一代工业机器人系列产品开发.机器人,2001,23(1):633-635
[35] Erwin Prassler, Arno Ritter, Christoph Schaefferand Paolo Fiorini. A Short History of Cleaning Robots, Autonomous Robots, 2000,9(3): 211-226
[36] Ryo Kurazume and Shigeo Hirose. Development of a Cleaning Robot System with Cooperative Positioning System,Autonomous Robots, 2000,9(3):237-246
[37] 杨雄.风管清洗机器人国产化研究及应用.清洗世界,2004,20(11):37-40
[38] 张兆君,颜宁,宗光华.壁面吊挂清洗机器人真空吸附力和牵引力设计研究.机器人,2005,27(1):57-62
[39] 唐伯雁,张慧慧,费仁元等.圆锥幕墙清洗机器人系统研制.仪器仪表学报,2004, 25(4):168-170
[40] Leoncio Briones Paul Bustamante and Miguel. A Serna Wall-climbing Robot for Inspection in Nuclear Power Plants. Proceedings IEEE International Confernce on Robotics and Automation,1994:1409-1414
[41] Zhi-Yuan Qian, Yan-Zheng Zhao, Zhuang Fu and Qi-Xin Cao. Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups,The International Journal of Advanced Manufacturing Technology, 2006,30(1):Pages:147–155
[42] 张厚祥,刘荣,王巍等.爬壁机器人气动位置伺服控制研究.北京航空航天大学学报,2004,30(8):705-708
[43] 罗均,吕恬生,张家梁等.缆索维护机器人系统的研制.上海交通大学学报,2000, 34(3):360-362
[44] Xie, Xiao-Peng Xia, Hong-Wei; Yang, Ru-Qing. High-voltage live cleaning robot design based on security,Journal of Harbin Institute of Technology (New Series), 2005,12(5):590-594
[45] 鲁守银,培荪,戚晖等.绝缘子带电清洗.电力系统自动化,2003,27(17):56-58
[46] 王丽惠.水下船体表面清刷机器人及相关技术研究.哈尔滨:哈尔滨工程大学,2002,10(3):13-16
[47] 李景春,蒋玉洁,张国忠.飞机表面清洗机器人系统设计.组合机床与自动化加工技术,2004,10:68-69
[48] K.D.Rupp FhG/IPA O.Wurst Putzmeister. Implementation of CAN-system in truck-based aircraft washing system.International CAN Conference in Mainz (Germany),1994(1):1-9
[49] 曾我知克,航空機自動洗净装置. ロボッ.1995,98:16-23
[50] 顾震宇.全球工业机器人产业现状与趋势.机电一体化,2006,2:6-9
[51] 長塚謙一.真空吸着壁面自走車“バッスクス”ロボット.No.53,1986:127-135
[52] 浦上不可止.吸着自走式清掃ロボット.日本ロボット学会誌.VOL.l0.No.5, 1992:59-60
[53] Hitachi Zosen,CEPCO. Condenser Tube Cleaning and Inspection Robot. http://www.energia-pet.com/e/info/T-P6/2/T-P6-2_fukusuiki.html
[54] 樊绍胜,刘社开.在线清洗热交换器的水中作业机器人.中国专利:03248144.6, 2004-08-11
[55] 彭伟,陈宁.电厂冷凝器高压水射流在线清洗机器人技术.中国专利: 200520069296.9, 2005-05-10
[56] 杨林,唐川林,张凤华.高压水射流技术的发展及应用.洗净技术,2004,1:9-14
[57] 窦照英.电力工业清洗技术.北京:化学工业出版社,2005:402-427
[58] 张利平.液压控制系统及设计.北京:化学工业出版社,2006:1-8
[59] 徐正飞,许春权等. 基于 ICP 和 PLC 的移动机器人控制系统设计.机械与电子,2001,4:25-27
[60] 刘淼,赵群飞,杨汝清,翁新华. 基于 PLC 的防爆机器人控制系统设计.机械, 2004,31(1):37-39
[61] 韩军. PLC 在变频调速仿形喷涂机器人控制系统中的应用.制造业自动化, 2000,22(10):55-56,62
[62] 郭悦,徐国华,向先波等.智能水下机器人自救系统的可靠性预计.机械与电子,2006,11:53-55
[63] 许广清. 8A4 水下机器人控制系统.船舶工程,1997,3:42-45
[64] 黄永红,吉裕晖,杨东. PLC 控制电机变频调速试验系统的设计与实现.电机与控制应用,2007,34(10):40-43,56
[65] 张全庄,段峻.PLC 在恒压供水变频调控制系统中的应用.变频器世界,2005,2: 92-94
[66] 刘平.自动加药系统在石化行业锅炉水处理中的应用.自动化与仪器仪表,2007, 3:36-38
[67] 孙立忠,冀玉春,吕琳.循环水加药变频自动控制.东北电力技术,2002,4:47-48
[68] 方千山,王永初.模糊 PID 控制器及其应用.厦门大学学报(自然科学版),2001, Z1:1-4
[69] W. D. Chang, R. C. Hwang, J. G. Hsieh. Application of an Auto-Tuning Neuron to Sliding Mode Control. IEEE Trans. Syst., Man, Cybern, 2002, 32(4): 517-522
[70] K. Erbatur, O. Kaynak. Use of Adaptive Fuzzy Systems in Parameter Tuning of Sliding-Mode Controllers. IEEE/ASME Trans. Mechatronics, 2001, 6(4): 474-482
[71] C. Ham, Z. Qu. A New Nonlinear Learning Control for Robotic Manipulators. Advanced Robotics, 1996,10(1):1-15
[72] 王耀南.机器人智能控制工程.北京:科学出版社,2004:7-14
[73] 王耀南.智能控制系统.长沙:湖南大学出版社,2006:40-47
[74] 孙炜.智能神经网络的机器人控制理论方法研究:[湖南大学博士学位论文] .长沙:湖南大学,2002:5-8
[75] 张洪涛.电液伺服阀控制液压马达速度伺服系统的研究.[北京交通大学硕士学位论文].北京:北京交通大学,1999:35-38
[76] 诸静.模糊控制原理与应用.机械工业出版社,2003:194-212
[77] 陈移风,邢安娜.光电增量式轴角编码器的数字信号处理.小型微型计算机系统,2001,17(8):36-40
[78] 李其朋,丁凡.电液伺服阀技术研究现状及发展趋势.工程机械,2003,16(6): 28-33