7 research outputs found
DataSheet1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.ZIP
To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p
Image1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG
To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p
Image2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG
To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p
DataSheet2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.PDF
To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p
Image3_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG
To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p
Influence of CO<sub>2</sub> Exposure on High-Pressure Methane and CO<sub>2</sub> Adsorption on Various Rank Coals: Implications for CO<sub>2</sub> Sequestration in Coal Seams
There
exist complex interactions between coal and CO<sub>2</sub> during
the process of CO<sub>2</sub> sequestration in coal seams
with enhanced coalbed methane recovery (CO<sub>2</sub>-ECBM). This
work concentrated on the influence of CO<sub>2</sub> exposure on high-pressure
methane and CO<sub>2</sub> (up to 10 MPa) adsorption behavior of three
types of bituminous coal and one type of anthracite. The possible
mechanism of the dependence of CO<sub>2</sub> exposure on adsorption
performance of coal was also provided. The results indicate that the
maximum methane adsorption capacities of various rank coals after
CO<sub>2</sub> exposure increase by 3.45%–10.37%. However,
the maximum CO<sub>2</sub> adsorption capacities of various rank coals
decrease by 9.99%–23.93%. TG and pore structure analyses do
not observe the obvious changes on the inorganic component and pore
morphology of the coals after CO<sub>2</sub> exposure. In contrast,
CO<sub>2</sub> exposure makes changes in surface chemistry of the
coals, according to the results from FTIR analysis, which is the main
reason for increases in the maximum adsorption capacity of methane
and decreases in the maximum adsorption capacity of CO<sub>2</sub> for the coals after CO<sub>2</sub> exposure. The different role
of CO<sub>2</sub> exposure on methane and CO<sub>2</sub> adsorption
is detrimental to CO<sub>2</sub>-ECBM. Thus, the implementation of
CO<sub>2</sub>-ECBM must take into account the influence of CO<sub>2</sub> exposure on the adsorption performance of the target coal
seams
Influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> Exposure on Pore Morphology of Various Rank Coals: Implications for Coal-Fired Flue Gas Sequestration in Deep Coal Seams
Carbon
dioxide (CO<sub>2</sub>) sequestration in deep coal seams
with enhanced coal-bed methane recovery is a promising way to store
the main anthropogenic greenhouse gas, CO<sub>2</sub>, in geologic
time. Recently, injection of CO<sub>2</sub> mixed with coal-fired
flue gas components, i.e., SO<sub>2</sub> and NO<sub><i>x</i></sub>, into coal seams has gained attention because it offers great
advantages in reducing the cost of CO<sub>2</sub> capture, flue gas
desulfuration, and denitration. As a preliminary investigation on
the feasibility of coal-fired flue gas sequestration in deep coal
seams, the influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> exposures
on the pore morphology of various rank coals are addressed in this
work. Considering the optimum coal reservoir conditions for flue gas
sequestration, the interaction of CO<sub>2</sub> with coals was studied
at a temperature of 45 °C and a pressure of 12 MPa. The results
show that both CO<sub>2</sub> exposure and SO<sub>2</sub> exposure
lead to decreases in both the specific surface area and pore volume
of micropores of various rank coals. The micropore morphology of both
Hulunbuir coal and Shenmu coal after NO exposure exhibits degradation,
while the opposite trend is found for Erdos coal and Yangquan coal.
The average micropore size of all the coals after contact with CO<sub>2</sub>, NO, and SO<sub>2</sub> decreases. The CO<sub>2</sub>, NO,
and SO<sub>2</sub> dependences of the meso- and macropore surface
area and volume of coals are complex and strongly related to the coal
rank. Fractal analyses show that the pore surfaces of coals after
CO<sub>2</sub>, NO, and SO<sub>2</sub> exposures become smooth, as
indicated by the surface fractal dimension determined from the Neimark
model, which is consistent with the increasing trend of the average
meso- and macropore size. Generally, the influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> exposures on pore morphology of various
rank coals may play an important role in the diffusion and adsorption
performance of fluid within the target coal reservoir. Thus, comprehensive
evaluation of the dependence of coal pore morphology on fluid exposure
is needed for the practical coal-fired flue gas sequestration in deep
coal seams