管间机器人纵向移动平台模糊控制系统-光学精密工程.pdfVIP

11 4 Vol. 11 No. 4 2003 8 Aug. 2003 Optics and Precision Engineering 1004924X(2003) 日 李文, 章亚男, 龚振邦 ( 上海大学 精密机械工程系, 上海200072) : , , , , , , , , , , , : 机器人; 模糊控制; 蒸汽发生器; 移动; 检测 :TP24 :A Fuzzy control system for longitudinal mobile platform of inbundle robot LI M in, ZHANG Yanan, GONG Zhen ang (Dep artment of Precision M echanical Engineering, Shanghai University, Shanghai 200072, China) Abstract: An in undle ro ot w as developed to meet the requirement of automatic video inspection on the pipes in the steam generators of nuclear pow er plants. T he structure and principle of the in undle ro ot are presented. The longitudinal mo ile platform w ith the inspection module in place is actuated y a stepping motor moves along a guide rail intermittently. There is an acceleration and a deceleration each movement etween two tu e columns to prevent step loss and to improve efficiency. For the longitudinal mo ile plat form system which can not e set up accurately, fuzzy control theory has een applied to design the acceler ation and deceleration curves of the stepping motor, and the fuzzy inference process is provided. The step ping motor controller is composed of a single chip computer and its peripheral circuits. The inference results w ere used to design the control program . Experiments testify that while the longitudinal mo ile platform remains sta le during acceleration and deceleration w ith total position error within the allowance, the in undle ro ot has realized automatic video inspection of a steam generator model. Key words: ro ot; fuzzy control; s