高技术通讯2017，Vol.27Issue(5)：442-449,8.DOI:10.3772/j.issn.1002-0470.2017.05.008
核电站检修主从式水下作业机械手研究
Study on a master-slave underwater manipulatorfor nuclear power plant servicing
摘要
Abstract
A 6-DOFs homogeneous master-slave underwater manipulator was designed for servicing of nuclear power plant reactors and spent fuel storage pools.A separated scale mapping model was built for the master-slave manipulator.A hydrodynamic model for the underwater manipulator was established based on the slice theory.A master-slave controller based on fuzzy-PID was designed for the manipulator according to its strong non-linearity.Finally, a two-joint test system for the master-slave manipulator was set up by using the dsPACE semi-physical simulation platform to verify the real-time tracking performance of the manipulator so as to lay the foundation for the whole machine control of multi-drive underwater manipulators.The experimental results showed that the master-slave manipulator was well in tracking capability, and the shape of the terminal trajectory of the master manipulator was nearly the same as that of the slave manipulator, and they were proportional in size, showing that the preferable position tracking and the high accuracy of position servo can be achieved when using the fuzzy-PID controller.关键词
核电站检修/主从式/水下作业机械手/水动力学/模糊PID控制Key words
nuclear power plant servicing/master-slave/underwater manipulator/hydrodynamics/fuzzy-PID control引用本文复制引用
王刚,王法承,张星星,杨圣喜,张璐瑶..核电站检修主从式水下作业机械手研究[J].高技术通讯,2017,27(5):442-449,8.基金项目
国家自然科学基金(51409058, 51305088),黑龙江省博士后基金(LBH-Z15035),黑龙江省自然科学基金(E2016017)和民品横向课题(4500088235)资助项目. （51409058, 51305088）
