Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

doi:10.3390/app131810487

	Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot
	Zuo, Congju 3,4,5; Qin, Guodong 5; Pan, Hongtao 5; Xia, Liang 3; Wang, Feng 3; Zhou, Pucheng 3; Qin, Xiaoyan 3; Shi, Ning 3; Lu, Leiji 3; Zhao, Ruijuan 3
刊名	APPLIED SCIENCES-BASEL
	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.
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关键词	TRACKING CONTROL ; NONLINEAR-SYSTEMS ; MANIPULATOR ; SIMULATION ; ALGORITHM ; FUSION ; FORCE ; LINK
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
内容类型	期刊论文
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).