Research On Control Technology Of Underwater Stirring Robot In Sewage Treatment Aeration Tan

Activated sludge method,as a sewage biological treatment technology,is to mix and aerate wastewater and activated sludge under oxygenation conditions to decompose and remove organic pollutants in the sewage to realize the biochemical treatment of sewage.Mixing and stirring is the core technology of the activated sludge method.When the oxygen content is too high,the oxygen injection into the aeration tank needs to be stopped,but at this time the sludge containing biochemical components will be deposited,which affects the treatment effect of sewage in the aeration tank.At present,fixed mechanical agitation is mostly used,and there are problems such as mixing dead zone and uneven oxygen concentration.Using mobile agitation instead of traditional mechanical agitation as a new technical solution can effectively improve the purification efficiency.The purpose of this subject is to study underwater mixing robots and control systems that solve the above problems,use movable carriers to carry mixing equipment to complete mixing operations,and use effective control methods to accurately determine route operations and fixed-point operations in the aeration tank.Achieve the biochemical treatment effect of sewage.This paper analyzes the actual environment and work requirements of the aeration tank from the macro and micro perspectives,determines the technical indicators of the underwater mixing robot,comprehensively considers the underwater environment of the aeration tank,and arranges 6 propellers on the body to realize the form of full drive.Then calculate the added mobile carrier and the mixing device according to the counterweight requirements to ensure the balance of the underwater mixing robot.First,on the basis of determining the overall composition of the underwater mixing robot,the force of the underwater mixing robot system is analyzed,and the coupling effect of the underwater mixing robot is studied.Therefore,considering the interaction effect between the body of the underwater mixing robot and the underwater mixing equipment,a complete dynamic model is established.Secondly,the control model is obtained through decoupling calculation,and the underwater mixing robot control strategy is proposed.The control strategy is the integration of the underwater mixing robot structure.It is mainly divided into two processes: The first process is the combination of PID control and fuzzy control.;The second process is to analyze the fuzzy adaptive simulation results.Due to the turbulence interference in the underwater environment of the aeration tank,the fuzzy self-adaptive control needs to further improve the control accuracy.Therefore,the genetic algorithm is used to optimize the membership function and fuzzy rules of the fuzzy control.The simulation results show that even in the case of uncertain disturbances in the dynamic model,the problem of strong turbulence in the underwater environment of the aeration tank is further effectively solved.Finally,the experimental control platform of the underwater mixing robot is built.Based on the system structure of the electronic cabin of the underwater mixing robot,the overall scheme of the monitoring system of the underwater mixing robot is determined,and then the module is developed based on the data communication between the sensors and the underwater main control system.The experimental monitoring platform of Lab VIEW underwater mixing robot.The experimental results show that the GA fuzzy adaptive control strategy proposed in this paper significantly improves the motion stability of the underwater mixing robot,indicating that the scheme is feasible and can be applied to mobile mixing in aeration tanks.