Design And Study On Control System Of Large Condenser Cleaning Intelligent Robot

With the advantages of increasing labor efficiency, improving working condition and completing dangerous tasks,cleaning robots have gained great attention from robot researchers in recent years,replacing the manual labor for cleaning operations. Condenser cleaning robot, as a kind of industrial cleaning robot, is an important component in cleaning equipment of large thermal power plant condenser. It is a typical complex interdisciplinary intelligent system, as well. Taking condenser cleaning robot as the main study object, this thesis aims to conduct a series of studies on its control system.This thesis starts with illustrating the necessity of fouling cleaning through the analysis of the cause and impact of fouling accumulation. Also, advantages and disadvantages of the commonly used fouling cleaning methods are put forward and compared. Then, an overview of the development of cleaning robots home and abroad as well as their key technologies is provided.Afterwards, the working principle of intelligent condenser cleaning equipment is explored, which focuses on the cleaning system and mechanical structural design of cleaning mobile robot. Detailed analysis is made on the mechanical design principle of cleaning mobile robot concerning the design of shift pedrail machine and that of high pressure water cleaning arm.To cope with the complex and vile working environment of large condensers, electric control system made up of IPC, PLC and Motion control board is designed. IPC, as a host computer, not only communicates with the Motion control board to control the Servo Drive and motors through PCI bus, but also communicates with PLC to control electric handspike, high-pressure water jet cleaning and Ultrasonic sensors ranging through RS-485 communication interface. The Servo-control system is described at length, while problems to be addressed in the process of implemention are analyzed.This thesis also introduces in detail the control software system of cleaning robot, including the host computer software and robot control interface based on Visual C++, Servo-motor control software system based on Motion control card, electric handspike control and High-pressure pump control software system based on PLC.Finally, key technologies of condenser cleaning robot control system are investigated. In particular, dynamics and kinematics of Crawler robot body are analyzed respectively. A cleaning robot experimental prototype is developed based on the above theoretical studies. According to experiment results, the controller designed well meets the control requirements of the cleaning robot.