用于核救灾机器人的电机驱动器安全防护

电子器件的抗辐射防护和热防护是核救灾机器人安全运行的前提。为了使核救灾机器人具有更强的可靠性和更长的工作时间，以机器人驱动核心部件——电机驱动器为研究对象，从提高自身耐辐射性能、增强屏蔽以及热防护角度出发展开研究：去除和替换辐射敏感元器件，紧密式排布安装驱动器以提高空间利用率；基于蒙特卡罗方法模拟屏蔽材料的组成成分与屏蔽效果关系；引入相变材料延长驱动器的工作时间。以上措施确保电子器件在环境温度100℃、辐射总剂量为4.95×10⁵ rad情况下可以正常运行98 min，满足核救灾机器人的基本工作要求。

Safety Protection of Motor Driver in Nuclear Rescue Robot

Radiation protection and thermal control of electronic devices are necessary for the safe operation of nuclear rescue robot. In order to improve the reliability and extend working time, protection strategy was given for motor driver, which is the core part of robot driving system, from the point of enhancing radiation resistance, strengthening shield and thermal safeguard. Radiation sensitive components were dislodged or replaced for homemade driver. Space utilization was improved by arranging drivers compactly. Monte Carlo N-particle transport code was adopted to simulate and reveal effects of different shielding material components. Besides, phase change material (PCM) was employed to extend the working hours of the driver. As a result, motor drivers can have a smooth running at 100℃ for 98 min with a total gamma ray dose of 4.95×10⁵ rad.