蒸汽發(fā)生器檢修機(jī)械臂關(guān)節(jié)控制和軌跡優(yōu)化研究的中期報(bào)告Abstract:Thismid-termreportfocusesonthejointcontrolandtrajectoryoptimizationofthemechanicalarmusedforthemaintenanceofsteamgenerators.Firstly,themechanicalarmcontrolsystemwasanalyzedandthejointcontrolalgorithmwasdesignedandimplemented.Then,theoptimizationofmechanicalarmtrajectorywasresearchedandanoptimizationalgorithmbasedonthegeneticalgorithmwasproposed.Finally,theexperimentalresultsshowthattheproposedjointcontrolalgorithmandtrajectoryoptimizationalgorithmcaneffectivelyimprovetheefficiencyandaccuracyofmaintenanceoperations.Keywords:steamgenerator,mechanicalarm,jointcontrol,trajectoryoptimization,geneticalgorithm1.IntroductionSteamgeneratorsareimportantequipmentinpowerplants,andtheirmaintenanceisessentialtoensuretheirsafeandefficientoperation.However,duetothecomplexstructureandconfinedspaceofthesteamgenerators,itischallengingforoperatorstoperformmaintenanceoperationsmanually.Therefore,theuseofmechanicalarmsformaintenanceoperationshasbecomeincreasinglypopular.Themechanicalarmusedforsteamgeneratormaintenanceistypicallycomposedofseveraljoints,anditscontrolsystemrequiresprecisejointcontrolandaccuratetrajectoryplanning.Inthismid-termreport,wefocusonthejointcontrolandtrajectoryoptimizationofthemechanicalarm.2.JointcontroldesignandimplementationThemechanicalarmusedforsteamgeneratormaintenancetypicallyhasseveraljoints,includingthebasejoint,shoulderjoint,elbowjoint,wristjoint,andendeffectorjoint.Thejointanglesneedtobeaccuratelycontrolled,andthejointmotionneedstobecoordinatedtoachievesmoothandefficientmovement.Toachievethis,wedesignedajointcontrolalgorithmbasedontheproportional-integral-derivative(PID)controller.Thejointanglesweremeasuredbythesensorsandinputtothecontrolsystem.ThePIDcontrollercalculatedtheerrorbetweenthetargetjointangleandthemeasuredjointangle,andthenadjustedthejointpositionaccordingly.ThejointcontrolalgorithmwasimplementedinaLabVIEWprogram,whichwasusedtocontrolthejointmovementofthemechanicalarm.TheLabVIEWprogramprovidedauserinterface,whichallowedtheoperatortoinputthedesiredjointanglesandcontrolthemovementofthemechanicalarm.3.TrajectoryoptimizationbasedongeneticalgorithmInadditiontoprecisejointcontrol,themechanicalarmalsorequiresaccuratetrajectoryplanningtoensureefficientandsafemovement.However,designinganoptimaltrajectoryforthemechanicalarmisacomplexoptimizationproblem,andtraditionaloptimizationmethodsareoftentime-consumingandmaynotguaranteetheoptimalsolution.Toovercometheseissues,weproposedatrajectoryoptimizationalgorithmbasedonthegeneticalgorithm.Thegeneticalgorithmisapopularoptimizationalgorithminspiredbytheprocessofnaturalselectionandgenetics.Thealgorithmstartswithapopulationofsolutionsanditerativelyimprovesthepopulationbyselectingandcombiningthefittestindividuals.Inourapproach,thetrajectorywasrepresentedasasequenceofjointangles,andthegeneticalgorithmwasusedtogenerateanoptimalsequenceofjointangles.Thefitnessfunctionwasdefinedasacombinationofthedistancetraveled,theendeffectorspeed,andthetimerequiredtocompletethetrajectory.4.ExperimentalresultsToevaluatetheeffectivenessofthejointcontrolalgorithmandtrajectoryoptimizationalgorithm,weconductedexperimentsonaphysicalprototypeofthemechanicalarm.Theexperimentalresultsshowedthattheproposedjointcontrolalgorithmprovidedaccurateandsmoothjointmovement,andthetrajectoryoptimizationalgorithmsignificantlyimprovedtheefficiencyandaccuracyofthemaintenanceoperations.5.ConclusionInthismid-termreport,wepresentedthedesignandimplementationofajointcontrolalgorithmandatrajectoryoptimizationalgorithmforamechanicalarmusedforsteamgeneratormaintenance.Theexperimentalresultsshowedthattheprop