CAJ | 학술논문

针对储罐底板现有检测装备自动化程度不高、检测劳动强度大、检测效率低等问题，设计了储罐底板自动化漏磁检测系统。介绍了系统的结构组成，分析了基于双目激光测距的小车自动定位原理。根据储罐底板的结构特征和漏磁检测的特点，规划了检测小车的运动路径，研究了小车运动速度增量式PID 控制算法和小车运动方向差动式控制算法，并进行了实验研究。结果表明，小车能够根据设定的PID 控制参数沿规划路径扫查，小车在直线寻迹时30°方向偏差纠偏时间约为1．7 s ，轨迹跟踪性能良好。
침대저관저판현유검측장비자동화정도불고、검측노동강도대、검측효솔저등문제，설계료저관저판자동화루자검측계통。개소료계통적결구조성，분석료기우쌍목격광측거적소차자동정위원리。근거저관저판적결구특정화루자검측적특점，규화료검측소차적운동로경，연구료소차운동속도증량식PID 공제산법화소차운동방향차동식공제산법，병진행료실험연구。결과표명，소차능구근거설정적PID 공제삼수연규화로경소사，소차재직선심적시30°방향편차규편시간약위1．7 s ，궤적근종성능량호。
In order to overcome such disadvantages as the low-level automation ,high labor intensi-ty and low efficiency for the current tank floor testing system ,an automatic M FL inspector for tank floors was developed .And the inspector composition and function modules were introduced ,the auto-matic positioning principle of testing trolley was analyzed based on binocular laser ranging .According to the structural characteristics of tank floors and the technical features of M FL inspection , the planned motion path for floor inspection were presented ,and the differential direction control algo-rithm and the velocity control algorithm based on incremental PID controller were studied .Experi-mental results indicate that the automatic M FL inspector has good performance of trajectory tracking , and can scan the floor well with setting control parameters along the planned path ,and the maximum time of deviation angle rectification is about 1 .7 s .