CN114603540A - Nuclear reactor pressure vessel detection manipulator control system - Google Patents
Nuclear reactor pressure vessel detection manipulator control system Download PDFInfo
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- CN114603540A CN114603540A CN202011448186.9A CN202011448186A CN114603540A CN 114603540 A CN114603540 A CN 114603540A CN 202011448186 A CN202011448186 A CN 202011448186A CN 114603540 A CN114603540 A CN 114603540A
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- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention provides a nuclear reactor pressure vessel detection manipulator control system, which comprises: a manipulator; the remote control end is used for giving working parameters and a task path, controlling a motor at the joint position of the manipulator and generating an instruction signal; the local control end comprises a motion controller, a speed command signal generation module and a control module, wherein the motion controller is used for planning a motion path according to the task path, controlling the position of a manipulator joint, receiving the position feedback of the manipulator and generating a speed command signal; the main control chip is used for decoding the rotary transformer at the joint of the manipulator, controlling the speed loop of the joint of the manipulator, receiving the speed feedback of the manipulator, receiving a control instruction sent by an upper computer, generating a current loop control instruction and monitoring the working state of the driver; and the driver is used for driving the manipulator, carrying out current control on the manipulator and receiving current feedback of the manipulator. The invention can improve the detection capability of the manipulator and solve the problems of software and hardware integration, single function, insufficient intellectualization and the like of the existing manipulator control system.
Description
Technical Field
The invention belongs to the technical field of manipulator control equipment, relates to a control system, and particularly relates to a control system for a nuclear reactor pressure vessel detection manipulator.
Background
The Reactor Pressure Vessel (RPV) is an important component for fixing, supporting and containing nuclear fuel and all internals, and is different from other nuclear safety class 1 devices which need to be replaced, and the Reactor Pressure Vessel cannot be replaced during the whole service life of a nuclear power plant, so the quality of the Reactor Pressure Vessel is the key for ensuring the normal and safe operation of a nuclear power system. The plurality of welding seams on the reactor pressure vessel are key objects during the inspection, and the conditions of the welding seams are related to the health condition of the whole reactor pressure vessel. The robot special for the nuclear reaction pressure vessel belongs to a nuclear power robot, has a plurality of special technical requirements compared with a common industrial robot, and the technologies are always the key points for research of nuclear power robots in various countries. However, the existing manipulator control system has the problems of software and hardware integration and sealing, single function, insufficient intellectualization and the like.
Therefore, how to provide a control system for a nuclear reactor pressure vessel detection manipulator to solve the defects of software and hardware integration and sealing, single function, insufficient intellectualization and the like in the prior art becomes a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a control system for a nuclear reactor pressure vessel inspection manipulator, which is used to solve the problems of software and hardware integration and closure, single function, and insufficient intelligence in the prior art.
To achieve the above and other related objects, the present invention provides a nuclear reactor pressure vessel inspection robot control system, including: a manipulator; the remote control end is used for giving working parameters and a task path of the nuclear reactor pressure vessel detection manipulator control system, controlling a manipulator joint position motor and simultaneously generating a command signal; the local control end comprises a motion controller positioned at the position control layer, a main control chip positioned at the speed control layer and a driver positioned at the current control layer; the motion controller is used for planning a motion path according to the task path, controlling the position of a manipulator joint, receiving position feedback of the manipulator and simultaneously generating a speed command signal; the main control chip is used for decoding a rotary transformer at a manipulator joint, controlling a speed loop of the manipulator joint, receiving speed feedback of the manipulator, receiving a control instruction sent by an upper computer, generating a current loop control instruction and monitoring the working state of the driver; the driver is used for driving the manipulator, carrying out current control on the manipulator and receiving current feedback of the manipulator.
In an embodiment of the present invention, the communication mode between the motion controller located in the position control layer and the main control chip located in the speed control layer is a combination mode of an IO control signal, an analog signal and a bus; the communication mode of the IO control signal comprises monitoring of the working states of a current layer and a speed control layer and an enabling instruction of a fixed height controller; receiving a position control layer speed instruction by the communication mode of the analog signal; and when the position control layer needs the absolute position of the manipulator joint, the communication mode of the bus returns the absolute position of the joint through the RS422 bus.
In an embodiment of the present invention, the communication mode between the main control chip located in the speed control layer and the driver located in the current control layer is a combination of an IO control signal, an analog signal, and a bus; the communication mode of the IO control signal completes enabling of the linear amplifier and receiving a failure signal of the linear amplifier; the communication mode of the analog signal is that a PID controller of a speed control layer generates an analog signal controlled by current; the communication mode of the bus acquires the error type of the linear amplifier in the driver.
In an embodiment of the invention, the motion controller provides the remote control with a motion interface for controlling the robot and a connection interface for connecting to the driver.
In an embodiment of the present invention, the driver includes a PWM driver and a linear amplifier driver; when the manipulator is debugged and operated, a PWM driver is adopted for driving; when the manipulator carries the end effector for operation, a linear amplifier is used for driving.
In an embodiment of the present invention, the main control chip includes: the rotary decoding module is used for decoding the rotary transformer at the position of the manipulator joint; the control module is used for controlling a joint speed ring of the manipulator and generating a current instruction through the joint speed ring; the position layer interface module is used for receiving a position instruction sent by the motion controller of the position control layer; and the current layer interface module is used for inputting the analog quantity generated by the joint speed ring after the D/A conversion of the current instruction into a control motor of the linear amplifier, controlling the enabling information of the linear amplifier and receiving the fault signal of the linear amplifier.
In an embodiment of the present invention, the rotary decoding module performs position closed-loop control on a joint motor of the manipulator, obtains a position measurement value of a motor rotor and a rotation position of a key shaft through a double-rotary transformer of the joint motor, and feeds back a difference value of the position measurement value and the rotation position of the key shaft, so that an analog quantity output by the joint motor control module of the manipulator controls the motor, and the analog quantity corresponds to a forward maximum speed and a reverse maximum speed of the joint motor respectively.
In an embodiment of the present invention, the position layer interface module converts a differential signal into a single-ended signal, and converts the single-ended signal into a digital quantity through 16-bit a/D conversion; and simultaneously expanding an 8-bit input digital interface and an 8-bit output digital interface to be used as information exchange so as to isolate the optical coupler.
In an embodiment of the present invention, the main control chip further includes: and the power supply module is used for providing a core power supply for the main control chip.
In an embodiment of the present invention, the remote control end and the local control end communicate via TCP/IP.
As described above, the control system for the nuclear reactor pressure vessel inspection manipulator according to the present invention has the following advantageous effects:
firstly, the invention can enable the staff to be in a nuclear safety island far away (the distance is more than or equal to 50m) from the nuclear reactor to remotely control the robot, and mainly completes the following steps: selecting a task type, simulating a task path, monitoring the state of the robot in real time, and issuing a motion instruction of the robot;
secondly, the staff can simply control the position and the speed of the robot near the working area by the invention and is used for debugging the robot;
thirdly, the remote control end has an excellent user interaction interface and completes the tasks of displaying and monitoring the robot model, simulating the tasks, processing the files and the like;
fourthly, the local control end can complete basic motion control, complete the work of motion control, robot state display, operation log recording and the like;
fifthly, when the formal operation of the manipulator is in an underwater environment, the power current of the manipulator is stable and cannot be driven by a PWM driver; the control system adopts two driving modes of PWM driving and linear amplifier driving to coexist, and can switch the optimal driving control mode according to different use environments;
and sixthly, the robot working area is in a pressure reaction container of the nuclear reactor, the interior of the robot working area is a water environment containing strong radioactivity, and the robot body and internal components in the environment have good radiation resistance.
Drawings
Fig. 1 is a schematic view of an application scenario of the present invention.
FIG. 2 is a schematic structural diagram of a nuclear reactor pressure vessel inspection robot control system according to an embodiment of the present invention.
Fig. 3 is a schematic control flow diagram of the robot joint motor according to the present invention.
Fig. 4 is a schematic view showing the connection of the 8-axis motion controller of the present invention to the corresponding terminal board.
Fig. 5 is a schematic structural diagram of a main control chip of the speed control layer according to the present invention.
Fig. 6 is a schematic view showing a rotation decoding method for each joint of the manipulator according to the present invention.
Description of the element reference numerals
2 nuclear reactor pressure vessel detector
Manipulator control system
21 remote control terminal
22 local control terminal
23 mechanical arm
221 motion controller
222 Master control chip
223 driver
231 PWM driver
232 linear amplifier driver
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The present embodiment provides a nuclear reactor pressure vessel inspection manipulator control system, including:
a manipulator;
the remote control end is used for giving working parameters and a task path of the nuclear reactor pressure vessel detection manipulator control system, controlling a manipulator joint position motor and simultaneously generating a command signal; and
the local control end comprises a motion controller positioned at the position control layer, a main control chip positioned at the speed control layer and a driver positioned at the current control layer;
the motion controller is used for planning a motion path according to the task path, controlling the position of a manipulator joint, receiving position feedback of the manipulator and simultaneously generating a speed command signal;
the main control chip is used for decoding a rotary transformer at a manipulator joint, controlling a speed loop of the manipulator joint, receiving speed feedback of the manipulator, receiving a control instruction sent by an upper computer, generating a current loop control instruction and monitoring the working state of the driver;
the driver is used for driving the manipulator, carrying out current control on the manipulator and receiving current feedback of the manipulator.
The nuclear reactor pressure vessel inspection robot control system provided by the present embodiment will be described in detail with reference to the drawings. The nuclear reactor pressure vessel inspection manipulator control system is applied to a scene shown in fig. 1, and is used for meeting the requirement of a weld inspection task for a nuclear reactor pressure vessel during the nuclear power plant refueling overhaul. In this mode, the operator is outside the closed loop, and only the correctness of the input instruction needs to be ensured without continuously monitoring the work of the robot; in addition, when the execution end is developed, local intelligent processing of the execution end can be added, and misoperation from an operator can be shielded.
Referring to fig. 2, a schematic structural diagram of a nuclear reactor pressure vessel inspection robot control system in one embodiment is shown. As shown in fig. 2, the nuclear reactor pressure vessel inspection manipulator control system 2 includes a remote control end 21, a local control end 22, and a manipulator 23. In consideration of the use and requirement characteristics of the welding seam detection robot of the present item, the local control end 22 includes a motion controller 221 located in the position control layer, a main control chip 222 located in the speed control layer, and a driver 223 located in the current control layer.
In this embodiment, the communication mode between the motion controller 21 located in the position control layer and the main control chip 22 located in the speed control layer is a combination of an IO control signal, an analog signal, and a bus; the communication mode of the IO control signal comprises monitoring of the working states of a current layer and a speed control layer and an enabling instruction of a fixed height controller; receiving a position control layer speed instruction by the communication mode of the analog signal; and when the position control layer needs the absolute position of the manipulator joint, the communication mode of the bus returns the absolute position of the joint through the RS422 bus.
In this embodiment, the communication mode between the main control chip 22 located in the speed control layer and the driver 23 located in the current control layer is a combination of an IO control signal, an analog signal, and a bus; the communication mode of the IO control signal completes enabling of the linear amplifier and receiving a failure signal of the linear amplifier; the communication mode of the analog signal is that a PID controller of a speed control layer generates an analog signal controlled by current; the communication mode of the bus acquires the error type of the linear amplifier in the driver.
In this embodiment, the remote control end 21 is configured to control a manipulator joint position motor and generate a command signal for specifying a working parameter and a task path of the nuclear reactor pressure vessel control system.
In this embodiment, the remote control end 21 is an operation end of an operator, and is a main human-computer interaction end of the system.
In control task division, the remote control end bears task level trajectory planning. In a reactor pressure vessel, there are a plurality of coordinate systems such as a cylindrical coordinate system, a spherical coordinate system, a robot joint coordinate system, a world coordinate system, and the like, and when a user manipulates the robot to move, the robot is usually specified to move in a certain direction in a certain coordinate system. The remote control end moves according to different coordinate systems and converts the movement into control quantity in the joint space of the robot. When a user specifies to move along the direction of a world coordinate system, the remote control end obtains an equivalent position in a joint space through an inverse kinematics solution of the robot and controls the local control end; when the user specifies the speed to move, the remote control end needs to utilize the Jacobian matrix to correspondingly convert the speed.
The remote control end serves as a user interaction end, allows a user to select scanning tasks to be carried out, presents the robot and the reactor pressure vessel in a three-dimensional mode, enables the user to carry out task track inspection, and avoids the conditions of collision, overlarge attitude error and the like. And after the user confirms that the task scanning track is correct, the remote control end generates a corresponding motion instruction to control the local control end to move.
The robot scans the welding seams at different positions, the used nondestructive welding seam detection equipment, namely an end effector, has certain difference, and the robot has different motion configuration parameters. And the remote control end automatically replaces the corresponding end effector model according to the task selected by the user and loads different control parameters.
During the movement of the robot, a user needs to monitor the state of the robot, such as the terminal position, the terminal speed, and the torque of each joint motor, through a remote control terminal. The remote control end provides visual reflection of the state of the robot. When the robot is out of a safe working area, or the joint speed exceeds the limit, or the joint torque exceeds the limit due to robot collision and the like, the remote operation end prompts the abnormal alarm state of the robot.
Because the safety level requirement of the reactor pressure vessel is high, the operation of the robot needs to be recorded, including automatic scanning, manual operation, robot state information and abnormal alarm information each time. And the remote control end records the information in the form of log files as log records of the overhaul of the reactor pressure vessel.
The remote control end is located in the safety island and far away from the local control end, and the communication environment of the nuclear power station is severe, so that a reliable communication mode needs to be selected to complete communication between the remote control end and the local control end. The remote control end sends a motion control instruction to the local control end, and the local control end also continuously reports the state information of the robot to the remote control end. A TCP/IP communication method is adopted between the remote control end 21 and the local control end 22 to establish a reliable communication connection.
In the present embodiment, the local control end 22 includes a motion controller 221, a main control chip 222 and a driver 223. Referring to fig. 3, a control flow of the robot joint motor is shown. As shown in fig. 3, the local control end 22 is the direct controller of the mechanical motion, is located near the robot body, and undertakes the main motion control task. The local control terminal 22 performs mechanical position loop, speed loop, and current loop control.
In this embodiment, the motion controller 221 is configured to plan a motion path according to the mission path, control the positions of joints of the manipulator, receive position feedback of the manipulator, and generate a speed command signal. The motion controller provides a motion interface for controlling the manipulator and a connection interface with the driver for the remote control end.
Specifically, the motion controller 221 adopts an embedded multi-axis motion controller, and on the basis of the embedded multi-axis motion controller, position control layer software is developed, so that on one hand, a position control task in motion control is undertaken, and on the other hand, the position control layer software is used as an upper layer of a local control end, and an interface for directly controlling the motion of the robot is provided for a user. The motion controller supports 8-axis motion control, corresponds to the six-joint robot of the robot body, the additional axis for controlling the camera and the ultrasonic scanner for nondestructive testing, and the GT2-800-ACC2 terminal board is a hardware wiring port matched with the eight-axis motion controller, so that the motion controller can be conveniently connected with a lower computer driver. Referring to fig. 4, a schematic view of the connection of the 8-axis motion controller to the corresponding terminal board is shown. As shown in fig. 4, the 1-7 axes of the embedded multi-axis motion controller output analog quantity, which is output through the CN1-CN7 channel in fig. 6, is used as the position control quantity of the 1-6 joints and the camera of the manipulator; the 8-axis output pulse quantity is used as the position control quantity of the external axis motor, and the pulse control quantity output by the 8-axis output is directly transferred to a pulse output interface of the speed layer circuit board and connected to the end effector to serve as an excitation pulse signal of the end effector.
The main control chip 222 is configured to decode a resolver at a manipulator joint, control a speed loop of the manipulator joint, receive a speed feedback of the manipulator, receive a control instruction sent by an upper computer, generate a current loop control instruction, and monitor a working state of the driver. The speed control layer adopts FGPA as a main control chip and is used for completing the decoding of the rotary transformer of the robot joint, the control of the speed loop of the robot joint, the monitoring of the working state of the driving controller and the reporting to the position layer. Fig. 5 shows a schematic structure of a main control chip of the speed control layer. The main control chip 222 includes a power module, a rotation decoding module, a control module, a position layer interface module (i.e., an upper computer interface module), and a current layer interface module (i.e., a lower computer interface module).
The power supply module is used for providing a core power supply for the main control chip.
Specifically, the power module generates multiple direct current power supplies, and firstly, the 24V direct current power supply generates +5V direct current power supply and +/-12V direct current power supply. The +5V direct-current power supply adopts an HZD10C-48S05W isolation power supply module, the +/-12V direct-current power supply adopts an HZD10C-48D15W isolation power supply module, and the input voltage range of the power supply module is 18V to 72V. 3.3V, 1.2V and 2.5V DC power supplies are generated by the LDO circuit. A3.3V power supply is generated by TPS75733KTT, and the current is 1A, so that the power supply supplies power to an IO port power supply of the FPGA. The 1.2V power supply is generated by the chip LD1117S12TR, and the current is 0.5A to supply power to the kernel power supply of the FPGA. The 2.5V direct current power supply is generated by the chip LM1117S25 and supplies power to the PLL module of the FPGA.
The rotary decoding module is used for decoding a rotary transformer at the position of the manipulator joint.
The rotary decoding module decodes 12 rotary transformers of six joints of the manipulator. The rotary transformer at the joint end is used for position control of the position control layer, the FPGA reads the absolute position, incremental signals of A, B and Z generated by the rotary transformer at the joint end are sent to the position control layer, and the rotary transformer at the motor end is used for control of the speed loop. The resolver decoder chip AD2S1210 is adopted for the resolver decoding of the joint position of the manipulator, the decoding resolution is 16 bits, and the resolver decoder chip is an industrial product with the temperature of-40 ℃ to 125 ℃. The AD2S1210 and DSP interface adopts SPI interface mode, and only 4 lines are used for communication with FPGA, so that wiring is more convenient.
Please refer to fig. 6, which is a schematic diagram illustrating a rotation decoding method for each joint of the manipulator. As shown in fig. 6, the rotary decoding module performs position closed-loop control on the joint motor of the manipulator, obtains a position measurement value of a motor rotor and a key axis rotation position through a double-rotary transformer of the joint motor, and feeds back a difference value of the position measurement value and the key axis rotation position, so that an analog quantity output by the joint motor control module of the manipulator controls the motor, and the analog quantity corresponds to a forward maximum speed and a reverse maximum speed of the joint motor respectively.
The control module (namely the FPGA module) is used for controlling a joint speed ring of the manipulator and generating a current instruction through the joint speed ring.
Specifically, the control module differentiates 16-bit incremental encoder signals generated by the motor rotation to obtain a speed feedback quantity, and performs PID operation by using the speed value.
Specifically, a certain two A/Ds in FPGA pins in a position control layer interface respectively occupy 4 pins, an Enable signal and a Reset signal occupy two input ports, the other 6 input ports are standby, output ports 1 to 4 are used for defining error types, an output port 8 is used for an alarm signal pin, and an RS232 occupies two IO ports. And 2 paths of SPI interfaces are expanded to complete DA conversion, the general input port receives a linearly amplified Fault signal, the general output enables the linear amplifier, and 4 paths of RS232 are expanded to be used for communicating with the linear amplifier.
And the position layer interface module (upper computer interface module) is used for receiving a position command sent by the motion controller of the position control layer, and the input voltage amplitude is +/-10V and corresponds to the maximum speed of the motor. Firstly, converting a differential signal into a single-ended signal, and converting the single-ended signal into digital quantity through 16-bit A/D conversion; and simultaneously, an 8-bit input digital interface and an 8-bit output digital interface are expanded to be used as information exchange, and the optical coupling isolation function is achieved. The increment signal decoded by the rotary transformer at the joint end is sent to the position control layer through a single-end to differential signal.
The interface between the decoding and speed control layer and the position control layer mainly comprises the following signals as shown in table 1.
Table 1: speed control layer and position control layer interface signal
The incremental signals a, B, and NM output from the AD2S1210 are converted into differential signals through the MC3487, and transmitted to the solid-high controller, and the circuit diagram of the single-end to differential conversion is shown in fig. 6.
The output and input IO port of the FPGA receives and sends digital IO signals through isolation, the output circuit diagram is shown in FIG. 6, and the collector is open-circuited for output. The circuit diagram of the input is shown in fig. 6. The model of the opto-coupler is HCPL 2630S.
The A/D conversion chip adopts an AD7605-4 chip of AD company, the interface of the converter and the FPGA is SPI, and the conversion precision of 16-bit resolution is achieved.
The current layer interface module (lower computer interface module) is used for inputting analog quantity generated by the joint speed ring after D/A conversion to a control motor of the linear amplifier, controlling the enabling information of the linear amplifier and receiving a fault signal of the linear amplifier.
Specifically, the speed layer and the current layer include a PWM interface module and a linear amplifier interface of the TRUST. The current instruction generated by the speed control loop is converted into analog quantity through D/A conversion and is sent to the linear amplifier to control the motor current, the Enable signal of the linear amplifier is controlled at the same time, the FAULT signal of the linear amplifier is received, and an RS232 interface is expanded for each linear amplifier to receive error reporting information of the linear amplifier. The interface signals of the current layer interface module are shown in table 2.
Table 2: speed layer and current layer interface signal
The current layer interface module completes the interface with the TRUST linear amplifier, the D/A converter adopts an AD5765 chip of AD company, the chip has 16-bit conversion resolution, and the SPI bus is communicated with the FPGA. The DA converted electric signal is converted into a differential signal through a single-end differential circuit consisting of OPA4277 and is transmitted to a linear amplifier, the digital IO signal of the lower computer is isolated through photoelectric coupling, and the HCPL26 2630S is adopted in the photoelectric coupling. In order to store system parameters such as PID parameters and product information, a serial EEPROM (electrically erasable programmable read-Only memory) AT25128 device is expanded, the space of 128Kb is expanded, and SPI (serial peripheral interface) communication is adopted.
The driver 223 is configured to drive the manipulator, perform current control on the manipulator, and receive current feedback of the manipulator. As shown in fig. 2, the driver 223 includes a PWM driver 223A and a linear amplifier driver 223B; when the manipulator is debugged and operated, the manipulator is driven by a PWM driver 231; the linear amplifier 232 is used to drive when the robot is carrying the end effector into operation.
The current layer of the control system adopts two driving modes of PWM driving and linear amplifier driving to coexist. And in the PWM driving mode, a direct current servo driver is used for driving, the driver is fixedly inserted into the mounting plate to form a driver module, and the operation of configuring the working mode, checking the state, enabling up and down and the like of the driver module is performed through DriveWare software. The PWM driver realizes current control by adjusting the pulse width of electric energy, further realizes the control of motor rotation, has the advantages of high efficiency, high intelligence, small volume, high power and the like, and is a common driver. The pulse width can be adjusted by switching the transistor on and off at high speed. The frequency range of high-speed switching of the transistor switch is generally 20K-30M, which causes high-frequency noise in the current. In the system, the scanning of the welding seam is realized by an end effector which adopts an ultrasonic detection system, and an ultrasonic signal of the system is extremely easy to be interfered by various noises. The high frequency electromagnetic noise generated by the PWM driver can seriously interfere with the ultrasonic detection system, so that the detection efficiency is greatly reduced. Thus, current layer control should be accomplished using a linear amplifier when carrying the end effector for nondestructive testing of the weld, but the power of the linear amplifier is low compared to PWM driving.
When the manipulator carries the end effector for operation, a linear amplifier is used for driving. The linear amplifier adopts a linear servo driver, receives +/-10V analog control quantity of the speed control layer, and outputs current to control the servo motor.
In summary, the control system for the detection manipulator of the nuclear reactor pressure vessel has the following beneficial effects:
firstly, the invention can enable the staff to be in a nuclear safety island far away (the distance is more than or equal to 50m) from the nuclear reactor to remotely control the robot, and mainly completes the following steps: selecting a task type, simulating a task path, monitoring the state of the robot in real time, and issuing a motion instruction of the robot;
secondly, the staff can simply control the position and the speed of the robot near the working area by the invention and is used for debugging the robot;
thirdly, the remote control end has an excellent user interaction interface and completes the tasks of displaying and monitoring a robot model, simulating tasks, processing files and the like;
fourthly, the local control end can complete basic motion control, complete the work of motion control, robot state display, operation log recording and the like;
fifthly, when the formal operation of the manipulator is in an underwater environment, the power current of the manipulator is stable and cannot be driven by a PWM driver; the control system adopts two driving modes of PWM driving and linear amplifier driving to coexist, and can switch the optimal driving control mode according to different use environments;
and sixthly, the robot working area is in a pressure reaction container of the nuclear reactor, the interior of the robot working area is a water environment containing strong radioactivity, and the robot body and internal components in the environment have good radiation resistance. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A nuclear reactor pressure vessel inspection robot control system, comprising:
a manipulator;
the remote control end is used for giving working parameters and a task path of the nuclear reactor pressure vessel detection manipulator control system, controlling a manipulator joint position motor and simultaneously generating a command signal; and
the local control end comprises a motion controller positioned at the position control layer, a main control chip positioned at the speed control layer and a driver positioned at the current control layer;
the motion controller is used for planning a motion path according to the task path, controlling the position of a manipulator joint, receiving position feedback of the manipulator and simultaneously generating a speed command signal;
the main control chip is used for decoding a rotary transformer at a manipulator joint, controlling a speed loop of the manipulator joint, receiving speed feedback of the manipulator, receiving a control instruction sent by an upper computer, generating a current loop control instruction and monitoring the working state of the driver;
the driver is used for driving the manipulator, carrying out current control on the manipulator and receiving current feedback of the manipulator.
2. The system of claim 1, wherein the communication mode between the motion controller at the position control layer and the main control chip at the speed control layer is an IO control signal, an analog signal and a bus; the communication mode of the IO control signal comprises monitoring of the working states of a current layer and a speed control layer and an enabling instruction of a fixed height controller; receiving a position control layer speed instruction by the communication mode of the analog signal; and when the position control layer needs the absolute position of the manipulator joint, the communication mode of the bus returns the absolute position of the joint through the RS422 bus.
3. The system of claim 1, wherein the communication mode between the main control chip of the speed control layer and the driver of the current control layer is an IO control signal, an analog signal and a bus; the communication mode of the IO control signal completes enabling of the linear amplifier and receiving a failure signal of the linear amplifier; the communication mode of the analog signal is that a PID controller of a speed control layer generates an analog signal controlled by current; the communication mode of the bus acquires the error type of the linear amplifier in the driver.
4. The nuclear reactor pressure vessel inspection robot control system of claim 1, wherein the motion controller provides the remote control with a motion interface to control the robot and a connection interface to the actuator.
5. The nuclear reactor pressure vessel inspection robot control system of claim 1, wherein the drivers comprise a PWM driver and a linear amplifier driver; when the manipulator is debugged and operated, a PWM driver is adopted for driving; when the manipulator carries the end effector for operation, a linear amplifier is used for driving.
6. The nuclear reactor pressure vessel inspection robot control system of claim 1, wherein the master control chip comprises:
the rotary decoding module is used for decoding the rotary transformer at the position of the manipulator joint;
the control module is used for controlling a joint speed ring of the manipulator and generating a current instruction through the joint speed ring;
the position layer interface module is used for receiving a position instruction sent by the motion controller of the position control layer;
and the current layer interface module is used for inputting the analog quantity generated by the joint speed ring after the D/A conversion of the current instruction into a control motor of the linear amplifier, controlling the enabling information of the linear amplifier and receiving the fault signal of the linear amplifier.
7. The nuclear reactor pressure vessel inspection robot control system of claim 5, wherein:
the rotary decoding module performs position closed-loop control on a joint motor of the manipulator, obtains a motor rotor position measured value and a key shaft rotating position through a double-rotary transformer of the joint motor, and feeds back a difference value, so that analog quantity output by the joint motor control module of the manipulator controls the motor and corresponds to the forward maximum speed and the reverse maximum speed of the joint motor respectively.
8. The nuclear reactor pressure vessel inspection robot control system of claim 5, wherein:
the position layer interface module converts the differential signal into a single-ended signal and converts the single-ended signal into digital quantity through 16-bit A/D conversion; and simultaneously expanding an 8-bit input digital interface and an 8-bit output digital interface to be used as information exchange so as to isolate the optical coupler.
9. The nuclear reactor pressure vessel inspection robot control system of claim 5, wherein the master control chip further comprises:
and the power supply module is used for providing a kernel power supply for the main control chip.
10. The nuclear reactor pressure vessel inspection robot control system of claim 1,
and the remote control end and the local control end communicate through TCP/IP.
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| CN202011448186.9A CN114603540A (en) | 2020-12-09 | 2020-12-09 | Nuclear reactor pressure vessel detection manipulator control system |
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| US20060100723A1 (en) * | 2004-10-29 | 2006-05-11 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
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| US20060100723A1 (en) * | 2004-10-29 | 2006-05-11 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
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Application publication date: 20220610 |