Research On Core Technology Of Monitoring The Chassis Of The Car In Uranim Conversion Workshop

In production process of uranium conversion,staff required to manual inspection the workshop security and record the HF concentration in the air,F₂ concentration,radioactive aerosol activity and other parameters.However,manual inspection has the problem of low efficiency,and if the raw material leaks,it have corrosive and radioactive.that will increase the difficulty and risk of staff inspections.Therefore,the application of the monitoring car into the uranium conversion workshop inspection and emergency was proposed.Current monitoring car application has been widely popular,but so far no examples of monitoring vehicles have been applied in uranium conversion workshop inspection and emergency.In response to the needs of uranium conversion workshops in China for inspection and emergency,We need to research the uranium conversion plant monitoring car chassis architecture,mechanical body,sports performance,nuclear protection and motion control and other core issues.The main work is as follows:（1）Research on inspection and emergency robots at china and abroad to determine the overall design plan for monitoring the chassis of the car.After that,design of the chassis components,Including the drive wheel,guide wheel,roller,tensioning device,track frame and other designs,complete parts drawing and assembly design.The calculation of the relevant performance of the crawler chassis,and in the mechanism design process,the force analysis of the key components such as the driving wheels,the roller axles and the chassis carriages was carried out to verify the feasibility and correctness of the crawler chassis model design.Finally discuss the anti-corrosion and anti-radiation problem of monitoring car.（2）Explain the working process of the monitoring car,and complete the design of the monitoring car motion control system and the selection of specific devices.After that,detailed description will be given on the control and driving of the crawler chassis DC motor.Such as Arduino controller introduction,bridge reversible PWM circuit introduction,hardware circuit design,DC motor PI regulator design,etc.Wherein the hardware circuit design and includes a motor driving circuit limiting circuit design;Then use SIMULINK software to carry on the simulation analysis to the electrical machinery control system,obtains the optimal PI parameter;Finally completes the control programming based on Arduino IDE.（3）Assemble the crawler chassis proportion model,complete the construction and commissioning of the control system,and verify the correctness and feasibility of the designed control program.