The design and control on intelligent underwater cleaning robot for power plant condenser
A novel method for online steam condenser fouling cleaning is proposed in this paper.In the approach,high pressure cleaning chosen as the main method,chemical cleaning is applied to complement,all this cleaning method is achieved by a new autonomous cleaning robot.In this paper,firstly,the robot system structure is designed which consists of mechanical and electrical structure.Secondly,the distributed control system is used to improve cleaning efficiency.Based on them,the cleaning control strategy based on fuzzy-gaussian neural network is presented and the BP algorithm is adopted to train the network weights.Then,the simulation results show that the proposed control strategy has better robustness and dynamic performance than traditional fuzzy control,which can not only reduce the phenomenon of chattering in effect,but also has good robustness and dynamic performance,Hence the control strategy is very fit for underwater robotic arm control.
underwater cleaning robot robotics neural network fouling cleaning power plant condenser.
Hui Zhang Yaonan Wang Jinzhu Peng Wei Sun
College of Electrical and Information Engineering,Hunan University,Changsha,Hunan Province,P.R.China
国际会议
International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)
上海
英文
2008-06-29（万方平台首次上网日期，不代表论文的发表时间）