Control System Design of Reactor Robot for Object Salvaging Underwater

被引：2

作者：

Huang, Xiaochen ^{[1
,2
]}

Sun, Lingyu ^{[2
]}

Zhang, Xiaojun ^{[2
]}

Li, Manhong ^{[2
]}

Zhang, Minglu ^{[2
]}

机构：

[1] Tianjin Univ Technol & Educ, Sch Mech Engn, Dagunan Rd 1310, Tianjin 300222, Peoples R China

[2] Hebei Univ Technol, Sch Mech Engn, Xiping Rd 5340, Tianjin 300401, Peoples R China

来源：

COMMUNICATIONS, SIGNAL PROCESSING, AND SYSTEMS, CSPS 2018, VOL III: SYSTEMS | 2020年 / 517卷

关键词：

Reactor robot; Object salvaging underwater; Control system; Control algorithm; EMERGENCY RESPONSE; ACCIDENT;

D O I：

10.1007/978-981-13-6508-9_75

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A reactor robot for object salvaging underwater was designed to reduce the labor intensity of operators under the nuclear radiation environment. The control system of the robot, composed of control system hardware and control system software, was designed to be compact and radiation resistant. The control algorithm of the robot based on current, velocity, and position feedback of each motor makes the robot achieve the goal of salvaging exactly and rapidly. In order to verify the stability of the control system, the salvaging foreign matter experiment was tested in nuclear base. The result shows that the control system of the robot is stable enough.

引用

页码：621 / 627

页数：7

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