BETA arm

Translational and rotational servo arm for nuclear control

Presentation :

The BETA Arm is the result of a true industrial system for eddy current inspection of steam generator tubes in a nuclear power plant.

The learned BETA arm reproduces this control system by positioning a camera in front of the tubes with a perforated plate. This system uses two coupled servo-controls, the first is a translation movement and the second a rotation movement.

The learned BETA Arm integrates an axis control board and two speed variators (myRIO control/command) and a piloting and simulation software offering a complete parameter setting of the control laws.

Technical solutions discussed :

Axis rotation with direct current geared motor, with encoder, on a swivel connection (gearwheel drive)

Travel axis with DC motor gearbox with encoder on a slide linkage (guide with rail and bushings)

5 Mpx USB industrial camera, 15 frames per second, resolution 2592 x 1944

Perforated plate reproducing the tubes of the steam generator

PWM speed controllers, 4 quadrants

National Instruments' myRIO real-time control / command board

Software for identification, monitoring/control, display of curves with superimposition of expected, real and simulated performances for the quantification of deviations

 

Pedagogical activities :

Identify the need, specification requirements and technical functions

Analysing the functional, structural architecture of a controlled system

Analysing information and energy channels

Parameterising the movements of a non-deformable solid

Analyse the stability of a continuous and invariant linear system

Analyse the accuracy of a continuous and invariant linear system

 

Strong points :

Study bench for the analysis of the behaviour of servo-control systems based on the real system

Highly dynamic system

Display of the differences between expected, simulated and real

Real-time adjustment of PID correctors

Accompanying documents with a technical file including a description of the real product and the tutorial product, a teaching file including practical activities by blocks (statements and corrections) and a resource file.

 

 

Reference :

S2I//100 : BETA arm tutorial with the hardware part (BETA arm and control / command software) and all accompanying documents.

 

Video :