1746-IB16
系統(tǒng)組成
2.1 系統(tǒng)描述
用于sg的水力沖洗裝置可以抽象為一個具有兩自由度的機器手臂。如圖1中所示，圖1中：m1：步進交流伺服電機、g1：步進運動減速器、m2：旋轉(zhuǎn)直流電機、g2：旋轉(zhuǎn)運動減速器、en：增量式編碼器、jk：接近開關(guān)。沖洗機器手臂頂端噴嘴在旋轉(zhuǎn)電機m2的帶動下，將內(nèi)部的高壓水射向遠近距離不同的傳熱管處。為防止旋轉(zhuǎn)部分與sg內(nèi)部構(gòu)件發(fā)生碰撞導(dǎo)致堵轉(zhuǎn)，設(shè)置了接近開關(guān)jk進行狀態(tài)監(jiān)視。整個機器手臂在交流伺服步進電機m1和plc的控制下，將噴嘴定位到每排管間處。光電編碼器模塊en和控制器plc組成高精度步進運動，防止高壓水長時間沖擊傳熱管管壁，危機蒸汽發(fā)生器設(shè)備安全。整個控制系統(tǒng)根據(jù)設(shè)計要求，能進行各種參數(shù)設(shè)定、運行狀態(tài)顯示和系統(tǒng)自診斷。在故障狀態(tài)下，具有報警功能和緊急停止功能。根據(jù)系統(tǒng)的控制要求，整個硬件的配置和分布如下：
（1） 核島內(nèi)高輻射區(qū)域（sg旁）
沖洗機器手臂本體：包括松下minas a系列伺服步進電機m1、旋轉(zhuǎn)直流電機m2、接近開關(guān)jk和編碼器en;
（2） 核島內(nèi)低輻射區(qū)域（距sg10m處）
現(xiàn)場手操控制箱一個，是整個控制系統(tǒng)的核心部分。包括siemens s7-200系列cpu224 plc、交流伺服電
機驅(qū)動模塊、直流電機驅(qū)動模塊、24v直流電源和控制繼電器等;
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