超声检测多轴机械手运动控制系统研究
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摘要
为提高现有AP1000反应堆压力容器、反应压力容器堆顶盖的焊缝超声检测效率和精度,采用工控机和运动控制卡相结合的方式来开发一套具有EtherCAT通信功能的超声检测用多轴机械手运动控制系统。在现有硬件基础上进行模块化改造设计,采用分层设计方式编写控制软件,并通过实时脉冲生成算法生成控制脉冲来达到控制机械手各轴运动速度的目的,应用PID算法来调节各自由度稳定性。试验证明,该机械手能够实现多轴联动,满足无损检测相关要求,具有高精度、高稳定度等特点,适用于核电站对相关设备进行远程超声检测操作。
In order to improve the efficiency and accuracy of ultrasonic testing for welds in existing reactor pressure vessels and reactor heads of AP1000,cover the use of industrial computer and motion control card combination to make the multi axis motion control system with a Ether CAT communication function of master-slave ultrasonic testing,modular design based on the existing hardware,hierarchical design programmed control the software,using the real-time pulse generation algorithm to generate the control pulse to control the speed of each axis motion of manipulator,the application of PID algorithm to adjust the degree of freedom of the stability.
In order to improve the efficiency and accuracy of ultrasonic testing for welds in existing reactor pressure vessels and reactor heads of AP1000,cover the use of industrial computer and motion control card combination to make the multi axis motion control system with a Ether CAT communication function of master-slave ultrasonic testing,modular design based on the existing hardware,hierarchical design programmed control the software,using the real-time pulse generation algorithm to generate the control pulse to control the speed of each axis motion of manipulator,the application of PID algorithm to adjust the degree of freedom of the stability.
引文
[1]李信良.超声检测机械手运动控制及仿真[D].北京:北京理工大学,2015
[2]潘秀石.基于VB六自由度机械手控制系统的研发[J].机械工程与自动化,2017(6):159-160
[3]孙士超.基于EtherCAT的多轴运动控制器研究[D].哈尔滨:哈尔滨工业大学,2014
[4]Jieliang Zhao,Shaoze Yan,Jianing Wu.Analysis of parameter sensitivity of space manipulator with harmonic drive based on the revised response surface method[J].Acta Astronautica,2014, 98
[5]Bin He,Lizhi Han,Yangang Wang,et al.Kinematics analysis and numerical simulation of a manipulator based on virtual prototyping[J].International Journal of Advanced Manufacturing Technology, 2014,71(5-8)
[6]邢然,刘丽媛,杨之江,等.基于直流伺服电机的机械手控制系统设计[J].内燃机与配件,2017(19):26-27
[7]孙永军.空间机械臂六维力/力矩传感器及其在线标定的研究[D].哈尔滨:哈尔滨工业大学,2016
[8]程辉辉,刘燕坡,陈礼安,等.串联机械手空间轨迹运动控制方法研究[J].机电工程技术,2017(9):58-61,145
[9]郭福坤.多轴控制用新型数控系统的研究与应用[D].广州:华南理工大学,2010
[2]潘秀石.基于VB六自由度机械手控制系统的研发[J].机械工程与自动化,2017(6):159-160
[3]孙士超.基于EtherCAT的多轴运动控制器研究[D].哈尔滨:哈尔滨工业大学,2014
[4]Jieliang Zhao,Shaoze Yan,Jianing Wu.Analysis of parameter sensitivity of space manipulator with harmonic drive based on the revised response surface method[J].Acta Astronautica,2014, 98
[5]Bin He,Lizhi Han,Yangang Wang,et al.Kinematics analysis and numerical simulation of a manipulator based on virtual prototyping[J].International Journal of Advanced Manufacturing Technology, 2014,71(5-8)
[6]邢然,刘丽媛,杨之江,等.基于直流伺服电机的机械手控制系统设计[J].内燃机与配件,2017(19):26-27
[7]孙永军.空间机械臂六维力/力矩传感器及其在线标定的研究[D].哈尔滨:哈尔滨工业大学,2016
[8]程辉辉,刘燕坡,陈礼安,等.串联机械手空间轨迹运动控制方法研究[J].机电工程技术,2017(9):58-61,145
[9]郭福坤.多轴控制用新型数控系统的研究与应用[D].广州:华南理工大学,2010