The Development Of Nc Cranes’Control System Based On Remote Virtual Monitoring

With the rapid development of nuclear power industry, nuclear power plants bring many problems while providing human beings huge energy. One of the most important problems is how to deal with a large number of nuclear wastes produced by nuclear power plants. Currently, waste treating equipment applied to lifting is mainly imported in China, however it’s expensive and not convenient to maintain. Research of the equipment is still in the primary stage in China. So developing the NC crane for nuclear waste storehouse with independent intellectual property has an extremely strong realistic meaning.According to the working requirements of the nuclear waste crane, overall design scheme of control system has been put forward referring to existing nuclear waste crane’s control system structure, mechanical structure and technological process, including the hardware scheme and software scheme. On the basis, the hardware control unit is designed and selected, including servo system, PLC and senso. Aiming at the characteristic of high positioning accuracy of nuclear waste cranes, two methods are used to meet the positioning accuracy requirement, including multi-motor synchronization based on virtual axis and discrete PID algorithm. In order to reduce swing and improve the security of nuclear waste crane, variable universe fuzzy controller for anti-swing is put forward based on the analysis of anti-swing controllers at home and abroad. And the difficulty in the choice of coefficients of traditional universe fuzzy controller is solved. Aiming at the characteristic of high reliability of nuclear waste cranes, fault-tolerant technology is combined with fault diagnosis based on fault tree,and active fault-tolerant can enhance crane’s reliability through hardware redundancy and software redundancy.Remote operation technology of NC cranes’for nuclear waste storehouse based on Kinect is studied. Referring to crane operation specifications, Operator action is divided into static hand gesture and dynamic hand gesture,and then hand gesture library is built. Operator hand gestures are detected and identified through Kinect and then control the virtual monitoring module. The identification of static hand gesture is achieved through template match, and the identification of dynamic hand gesture is achieved through the dynamic frame analysis.Finally, experiment is conducted through simulation and crane prototype built in laboratory, all the data and waveforms getting from the experiment are analyzed, the result verifies the rationality of the system and provides a certain reference value for the development of the nuclear waste crane.