Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot
文献类型：期刊论文
| 作者 | Zuo, Congju3,4,5; Qin, Guodong5; Pan, Hongtao5 ; Xia, Liang3; Wang, Feng3; Zhou, Pucheng3; Qin, Xiaoyan3; Shi, Ning3; Lu, Leiji3; Zhao, Ruijuan3
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| 刊名 | APPLIED SCIENCES-BASEL
 |
| 出版日期 | 2023-09-01 |
| 卷号 | 13 |
| 关键词 | CFETR multi-purpose overload robot sliding mode controller error compensation rigid-flexible control |
| DOI | 10.3390/app131810487 |
| 通讯作者 | Wang, Weihua(whwang@ipp.ac.cn) ; Cheng, Yong(chengyong@ipp.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | TRACKING CONTROL ; NONLINEAR-SYSTEMS ; MANIPULATOR ; SIMULATION ; ALGORITHM ; FUSION ; FORCE ; LINK |
| 资助项目 | National Natural Science Foundation of China[12305251] ; National Natural Science Foundation of China[11905147] ; Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] |
| WOS研究方向 | Chemistry ; Engineering ; Materials Science ; Physics |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001073252200001 |
| 资助机构 | National Natural Science Foundation of China ; Comprehensive Research Facility for Fusion Technology Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/132555]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Weihua; Cheng, Yong |
| 作者单位 | 1.Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R China 2.Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R China 3.Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R China 4.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China 5.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zuo, Congju,Qin, Guodong,Pan, Hongtao,et al. Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot[J]. APPLIED SCIENCES-BASEL,2023,13. |
| APA | Zuo, Congju.,Qin, Guodong.,Pan, Hongtao.,Xia, Liang.,Wang, Feng.,...&Cheng, Yong.(2023).Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot.APPLIED SCIENCES-BASEL,13. |
| MLA | Zuo, Congju,et al."Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot".APPLIED SCIENCES-BASEL 13(2023). |
入库方式： OAI收割
来源：合肥物质科学研究院
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