【摘要】：處理核廢料時(shí),穿著輻射防護(hù)服的專業(yè)人員通過(guò)手動(dòng)操作橋式起重機(jī)實(shí)現(xiàn)核廢料固化桶的轉(zhuǎn)運(yùn)。各類輻射等級(jí)的核廢料均具有輻射危害,對(duì)工作人員的健康安全產(chǎn)生不利影響,且會(huì)降低作業(yè)效率。在工程應(yīng)用中,橋式起重機(jī)使用范圍較為廣泛,起重機(jī)的設(shè)計(jì)研究主要沿智能化、無(wú)人值守方向發(fā)展,但目前大多數(shù)起重機(jī)自動(dòng)化運(yùn)行程度較低,控制精度低,運(yùn)行不平穩(wěn)。研究核用橋式起重機(jī)的智能化控制系統(tǒng),可實(shí)現(xiàn)核廢料轉(zhuǎn)運(yùn)作業(yè)的無(wú)人值守,而橋式起重機(jī)大車、小車的精度控制系統(tǒng)是智能控制系統(tǒng)的關(guān)鍵。主要研究工作如下:1.以橋式起重機(jī)橋架的主梁為研究對(duì)象,基于ANSYS的APDL語(yǔ)言對(duì)主梁進(jìn)行參數(shù)化建模。由于主梁結(jié)構(gòu)和載荷復(fù)雜以及作業(yè)環(huán)境較差,建模時(shí)合理簡(jiǎn)化主梁內(nèi)部結(jié)構(gòu)以及所受載荷,同時(shí)也能提高計(jì)算效率。分析橋式起重機(jī)滿載情況下小車處于主梁跨中處所受應(yīng)力、應(yīng)變以及撓曲變形,驗(yàn)證設(shè)計(jì)的可行性和有效性。分析研究主梁的變形位移,為控制系統(tǒng)精度的研究作鋪墊。2.研究橋式起重機(jī)大車、小車糾偏與精度控制,主要對(duì)核用橋式起重機(jī)實(shí)現(xiàn)核廢料桶的全自動(dòng)化轉(zhuǎn)運(yùn),進(jìn)行實(shí)時(shí)糾偏策略的研究。以大車運(yùn)行機(jī)構(gòu)為例,提出了一種以控制策略為主、結(jié)構(gòu)優(yōu)化為輔的糾偏控制策略,實(shí)現(xiàn)大車運(yùn)行機(jī)構(gòu)的糾偏,從而提高運(yùn)行機(jī)構(gòu)的精度;結(jié)合核用橋式起重機(jī)的多工況驗(yàn)收測(cè)試,驗(yàn)證了糾偏控制策略的可行性。3.以轉(zhuǎn)運(yùn)核廢料的橋式起重機(jī)的伺服系統(tǒng)為對(duì)象,研究核用橋式起重機(jī)模糊自適應(yīng)控制。通過(guò)對(duì)傳統(tǒng)PID控制算法、模糊控制算法、模糊PID控制算法等相關(guān)智能控制算法的研究,優(yōu)化核用橋式起重機(jī)的復(fù)合模糊自適應(yīng)控制系統(tǒng),改善控制系統(tǒng)的平穩(wěn)性、調(diào)節(jié)時(shí)間以及抗干擾能力,并結(jié)合模擬仿真實(shí)驗(yàn)進(jìn)行驗(yàn)證。
[Abstract]:When dealing with nuclear waste, professionals wearing radiation protective clothing transfer the solidified bucket of nuclear waste by manually operating bridge crane. All kinds of radiation grades of nuclear waste have radiation hazards, which have a negative impact on the health and safety of staff, and will reduce the efficiency of the operation. In engineering application, bridge crane is widely used, and the design and research of crane mainly develops along the direction of intelligence and unattended, but at present, most cranes have low automatic operation degree, low control precision and unstable operation. The research on the intelligent control system of nuclear bridge crane can realize the unattended nuclear waste transfer operation, and the precision control system of bridge crane truck and trolley is the key of intelligent control system. The main research work is as follows: 1. Taking the main beam of bridge crane bridge as the research object, the parametric modeling of the main beam is carried out based on APDL language of ANSYS. Because of the complex structure and load of the main beam and the poor working environment, the internal structure and load of the main beam can be reasonably simplified, and the calculation efficiency can be improved at the same time. Under the condition of full load of bridge crane, the stress, strain and deflection of the trolley in the middle of the main beam span are analyzed, and the feasibility and effectiveness of the design are verified. The deformation and displacement of the main beam are analyzed and studied, which paves the way for the study of the accuracy of the control system. 2. This paper studies the deviation correction and precision control of bridge crane cart and trolley, and mainly studies the real-time deviation correction strategy of nuclear waste bucket transportation realized by nuclear bridge crane. Taking the large vehicle operation mechanism as an example, this paper puts forward a deviation correction control strategy with the control strategy as the main and the structure optimization as the auxiliary, so as to realize the deviation correction of the vehicle operation mechanism, so as to improve the accuracy of the operation mechanism. Combined with the multi-working condition acceptance test of the nuclear bridge crane, the feasibility of the deviation correction control strategy is verified. Taking the servo system of bridge crane which transports nuclear waste as the object, the fuzzy adaptive control of nuclear bridge crane is studied. Through the research of traditional PID control algorithm, fuzzy PID control algorithm and other related intelligent control algorithms, the compound fuzzy adaptive control system of nuclear bridge crane is optimized, and the stability, adjustment time and anti-interference ability of the control system are improved, and verified by simulation experiments.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH21

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