烹饪机器人双压强火力数值计算与实验

闫维新^1,2, 马文涛^1,2, 付庄^1,2, 赵言正^1,2, 周晓燕³

1.上海交通大学机器人研究所;2.机器人技术与系统国家重点实验室;3.杨州大学旅游烹饪学院



摘要:

为实现烹饪机器人无级火力强度调节,进行鼓风式燃气燃烧器的双压强火力数值计算与实验.建立燃烧器引射管的基本方程、组分输运方程和湍流方程等数学模型;应用流体力学分析软件FLUENT建立引射管二维轴对称气体运动模型,确定了边界条件、初始状态和有限速率化学反应模型;根据燃烧器喷嘴中心高压空气压力值对可燃气体速度提升和引射吸入空气量的变化曲线,得出特定燃气热负荷下高压空气最佳匹配压力值.将该火力强度双压强控制方法应用于烹饪机器人上,完成高精度的火力热负荷闭环控制,并将常压(2.0 kPa)燃气的热功率提高到18 kW.

关键词:  烹饪机器人  火力系统  双压强  鼓风式燃气燃烧器

DOI：10.11918/j.issn.0367-6234.2011.05.020

分类号:TP242.3

基金项目:机器人技术与系统国家重点实验室开放研究项目(SKLRS-2010-ZD-06);国家自然科学基金资助项目(61075086,60875058);国家高技术研究发展计划资助项目(2007AA041601,2007AA041602,2007AA041603)



Numerical methods and experiments of dual-pressure fire system for cooking robot

YAN Wei-xin^1,2, MA Wen-tao^1,2, FU Zhuang^1,2, ZHAO Yan-zheng^1,2, ZHOU Xiao-yan³

1.Research Institute of Robotics,Shanghai Jiao Tong University,200240 Shanghai,China;2.State Key Laboratory of Robotics and System,150001 Harbin,China;3.School of Tourism and culinary Science,Yangzhou University,225009 Yangzhou Jiangsu,China

Abstract:

To realize adjusting the fire intensity of cooking robot continuously,a numerical calculation and experiments of dual-pressure fire system for blast gas combustor were carried out.Firstly,the basic equations of fluid mechanics,the equations of component transport and the equations of turbulence for the induction tunnel of combustor were established.Secondly,the CFD software FLUENT was utilized to build the two dimensional axisymmetry gas-kinetic model for the induction tunnel,to define the boundary condition,the initial state and the finite-rate chemical reaction model.Thirdly,the control method of dual-pressure fire intensity was obtained.According to the variation curve of pressure value of high-pressure air in the nozzle central axle with the accelerating value of combustible gas and quantity of air imbibed by ejection,the optimal matched pressure value of high-pressure air based on the specific heat load of combustible gas was obtained.The method was used on the cooking robot,which showed that the fire intensity feedback control could be achieved precisely and the power of common pressure(2.0 kPa) combustible gas combustor could be up to 18 kW.

Key words:  cooking robot  fire system  dual-pressure  blast gas combustor