Abstract:

In order to overcome such disadvantages as the low-level automation, high labor intensity and low efficiency for the current tank floor testing system,an automatic MFL inspector for tank floors was developed. And the inspector composition and function modules were introduced, the automatic 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 MFL inspection, the planned motion path for floor inspection were presented, and the differential direction control algorithm and the velocity control algorithm based on incremental PID controller were studied. Experimental results indicate that the automatic MFL 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 1.7s.

Key words: tank floor, magnetic flux leakage(MFL), binocular laser positioning, motion control

摘要：

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1.7s，轨迹跟踪性能良好。

关键词: 储罐底板, 漏磁, 双目激光定位, 运动控制