Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot
Source abstract
Abstract
The CFETR multi-purpose overload robot (CMOR) is a key subsystem of the remote handling system of the China fusion engineering test reactor (CFETR). This paper first establishes the kinematic and dynamic models of CMOR and analyzes the working process in the vacuum chamber. Based on the uncertainty of rigid-flexible coupling, a CMOR adaptive robust sliding mode controller (ARSMC) is designed based on the Hamilton-Jacobi equation to enhance the robustness of the control system. In addition, to compensate the influence of non-geometric factors on position accuracy, an error compensation method is designed. Based on the matrix differentiation method, the CMOR coupling parameter errors are decoupled, and then the gridded workspace principle is used to identify the parameter errors and improve the motion control accuracy. Finally, the CMOR rigid-flexible coupling simulation system is established by ADAMS-MATLAB/Simulink to analyze the dynamic control effect of ARSMC. The simulation results show that the CMOR end position error exceeds 0.1 m for single joint motion. The average value of CMOR end position error is less than 0.025 m after compensation, and the absolute error value is reduced by 4 times, improves the dynamic control accuracy of CMOR.
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Research context
OpenAlex topics: Dynamics and Control of Mechanical Systems · Hydraulic and Pneumatic Systems · Adaptive Control of Nonlinear Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China
Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230026, China
Department of Information Engineering, Army Academy of Artillery and Air Defense, Hefei 230031, China
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Institute of Physical Science and Information Technology, Anhui University, Hefei 230031, China
Funding
National Natural Science Foundation of China · Comprehensive Research Facility for Fusion Technology Program of China
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