本文選題：自動開封蓋機器人 + 模塊化設計　； 參考：《電子科技大學》2017年博士論文

【摘要】：近年來,我國核電站在高精尖設備研發(fā)及技術開發(fā)方面取得了長足的進步,形成了一系列具有代表性的出口產品,但是也有部分核電站設備和技術,仍然依賴進口,不利于核電設備的升級改造和維護,以及核電站技術的整體出口。作為核電站“三廢”(廢物、廢氣、廢液)處理系統(tǒng)之一的固體廢物處理系統(tǒng)在核電站的能量循環(huán)系統(tǒng)中處于非常重要的位置,而自動開封蓋機器人作為該系統(tǒng)的核心設備,在我國核電站一直依賴國外進口。本文開展的工作即是針對核電站固體廢物處理系統(tǒng)中的自動開封蓋機器人的系統(tǒng)設計及控制進行的研究,旨在打破國外壟斷,研制具有完全自主知識產權的國產化設備。自動開封蓋機器人是固體廢物處理系統(tǒng)中最精密的設備,用于對貯存中、低放射性廢物的400L金屬桶進行開蓋和封蓋操作。本文主要研究工作如下:1、論述了基于模塊化設計思想設計的自動開封蓋機器人機械系統(tǒng),按功能將自動開封蓋機器人分成平動模塊、升降模塊、定位模塊、桶蓋分離模塊、擰緊軸模塊和支撐存蓋模塊等六大功能模塊,詳細闡述了每個模塊的設計方法和功能,并且對關鍵部件進行了受力仿真分析。同時對自動開封蓋機器人的桶中心定位、螺釘及螺釘孔定位、無動力存放桶蓋等關鍵技術進行研究并提出實現方法;2、為解決由于自動開封蓋機器人運行過程中存在間隙特性,影響定位模塊的定位精度問題,根據旋轉模塊的特點設計了一種機械消隙裝置,并通過仿真分析驗證了該裝置的有效性。同時針對平動模塊及升降模塊存在的絲杠傳動反向間隙,提出了一種基于前饋控制的間隙區(qū)加減速控制方法,通過仿真分析和實驗驗證,證明了該方法的有效性;3、整個自動開封蓋機器人工作流程中最關鍵的任務是保證盛裝固體廢物的金屬桶的緊固螺釘的擰緊質量。為解決擰緊軸擰入螺釘操作在常規(guī)控制方法下經常出現扭矩超調的問題,基于擰緊軸模塊的設計,建立了相應的擰緊軸模型和擰緊過程模型,并將兩者結合成一個整體模型。在此模型基礎上,針對非線性的扭矩-轉角系數,提出了一種基于反演控制(Backstepping Control)的模糊自適應控制方法,同時進一步簡化擰緊軸系統(tǒng)模型,在把扭矩-轉角系數簡化成一個常數的情況下,提出了一種增強型變增益PID(Proportion Integration Differentiation)控制器。經過仿真分析和實驗驗證,兩種控制方法的控制性能顯著優(yōu)于常規(guī)的控制方法,使螺釘的擰緊質量得到保證;4、結合故障模式、影響和危害性分析(Failure Modes and Effect Criticality Analysis,FMECA)和故障樹分析(Fault Tree Analysis,FTA)兩種可靠性設計中的分析方法對初步構建的自動開封蓋機器人硬件平臺進行故障分析,在此基礎上篩選出自動開封蓋機器人的關鍵故障點,并針對這些關鍵故障點進行了自動開封蓋機器人的可靠性分析和改進;5、在機械系統(tǒng)設計的基礎上進行了動力設備及關鍵部件的選型計算和分析,在確保滿足各項功能的前提下,基于上述研究工作,研制了一臺自動開封蓋機器人原理樣機,通過對原理樣機的系列實驗,驗證了本文所提的系統(tǒng)設計方案以及控制方法的合理性與有效性。
[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.
【學位授予單位】：電子科技大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TP242

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