Developmental Research on Motion Control System of Water Jet Robot for Nuclear Reactor Dismantlement

点击翻译按钮获取中文摘要

A nozzle of water jet cutting is modeled by a contilevered pipe conveying fluid. An active vibration control of the pipe is investigated theoretically and experimentally. The response of the pipe is controlled by the torque produced by a pair of tendons attached to the pipe and servo motor. The equation of motion is solved by means of the Galerkin method. In order to reduce the number of system mode, a suboptimal control law considering of the spillover is applied to the system. The experiment was performed by using a long flexible pipe conveying water, which was hung horizontally or vertically. Numerical simulations and experimental results are in good agreement with each others and show that this method is effective for suppression of the flutter of the nozzle of water jet cutting. A pair of piezoelectric actuators also is effective for the active vibration coatrolled of the nozzle.