Title: The design and control on intelligent underwater cleaning robot for power plant condenser

Authors: Hui Zhang, Yaonan Wang, Jinzhu Peng, Wei Sun

Addresses: College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China. ' College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China. ' College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China. ' College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China

Abstract: A novel method for online steam condenser fouling cleaning is proposed in this paper. In the approach, high pressure cleaning is chosen as the main method, chemical cleaning is applied to complement and 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 these, 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.

Keywords: underwater robots; cleaning robots; intelligent robotics; neural networks; fouling cleaning; power plant condenser; robot design; robot control; high pressure cleaning; chemical cleaning; steam condenser; fuzzy control; simulation.

DOI: 10.1504/IJMIC.2009.027895

International Journal of Modelling, Identification and Control, 2009 Vol.7 No.4, pp.392 - 397

Published online: 14 Aug 2009 *

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