机构地区: 湖南大学电气与信息工程学院
出 处: 《控制工程》 2009年第2期230-233,238,共5页
摘 要: 针对火电厂凝汽器的清洗需求,设计一种水下履带式清洗机器人,提出利用工控机、DSP和PLC相结合的清洗机器人控制系统。工控机作为上位机通过Profibus监控整个机器人的运行状态,实现机器人的安全运行和管理;DEC643完成水下冷凝管的图像处理,实现管孔的坐标计算;DEC2812完成机器人的移动和两关节机械臂的协调动作,实现喷嘴精确对中冷凝管管孔;PLC完成高压水射流的产生和化学药剂的投加,实现机器人的机电控制。详细介绍机器人的控制系统,给出控制系统的组成、部分流程图、机器人的姿态图。最后给出的现场实验结果表明,所设计的机器人能够对凝汽器实现有效的清洗。 An underwater track robot is designed according to the condenser cleaning requirement of the thermo power plant. The control system is based on the cooperation of IPC, DSP and PLC. IPC supervise the overall process through PROFIBUS and realize the safe operation and management. DEC6d3 is responsible for the image processing of the underwater condenser-tubes and the location of the tube-hole. DEC2821 is responsible for the robot movement, the coordination of the two joint manipulator, and the precision tube location. PLC control the high pressure water jet and the adding of chemicals, realizing the electromechanical control of robot. The control system includes the constitution of the robot, some flow charts, and some posturography of robot. The experimental results show that the robot can clean the condenser effectively.
领 域: [自动化与计算机技术] [自动化与计算机技术]