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Control System Design of Reactor Robot for Object Salvaging Underwater

  • Xiaochen Huang
  • Lingyu SunEmail author
  • Xiaojun Zhang
  • Manhong Li
  • Minglu Zhang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 517)

Abstract

A reactor robot for object salvaging underwater was designed to reduce the labor intensity of operators under the nuclear radiation environment. The control system of the robot, composed of control system hardware and control system software, was designed to be compact and radiation resistant. The control algorithm of the robot based on current, velocity, and position feedback of each motor makes the robot achieve the goal of salvaging exactly and rapidly. In order to verify the stability of the control system, the salvaging foreign matter experiment was tested in nuclear base. The result shows that the control system of the robot is stable enough.

Keywords

Reactor robot Object salvaging underwater Control system Control algorithm 

Notes

Acknowledgements

This work was supported by Tianjin Enterprise Science and Technology Commissioner Project under grant 18JCTPJC66000, University Foundation of Tianjin University of Technology and Education under grant KJ1702 and Scientific Research Foundation of Tianjin University of Technology and Education under grant KYQD1807.

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Xiaochen Huang
    • 1
    • 2
  • Lingyu Sun
    • 2
    Email author
  • Xiaojun Zhang
    • 2
  • Manhong Li
    • 2
  • Minglu Zhang
    • 2
  1. 1.School of Mechanical EngineeringTianjin University of Technology and EducationHexi District, TianjinChina
  2. 2.School of Mechanical EngineeringHebei University of TechnologyBeichen District, TianjinChina

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