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

被引:0
|
作者
Zuo, Congju [1 ,2 ,3 ]
Qin, Guodong [1 ]
Pan, Hongtao [1 ]
Xia, Liang [3 ]
Wang, Feng [3 ]
Zhou, Pucheng [3 ]
Qin, Xiaoyan [3 ]
Shi, Ning [3 ]
Lu, Leiji [3 ]
Zhao, Ruijuan [3 ]
Wan, Chenhui [4 ]
Luo, Guangnan [1 ]
Wang, Weihua [1 ,5 ]
Cheng, Yong [1 ]
机构
[1] Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
[2] Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China
[3] Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R China
[4] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R China
[5] Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R China
来源
APPLIED SCIENCES-BASEL | 2023年 / 13卷 / 18期
基金
中国国家自然科学基金;
关键词
CFETR; multi-purpose overload robot; sliding mode controller; error compensation; rigid-flexible control; TRACKING CONTROL; NONLINEAR-SYSTEMS; MANIPULATOR; SIMULATION; ALGORITHM; FUSION; FORCE; LINK;
D O I
10.3390/app131810487
中图分类号
O6 [化学];
学科分类号
0703 ;
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.
引用
收藏
页数:17
相关论文
共 50 条
  • [41] A Simple Multi-Purpose Method for Compact Model Evaluation
    Tomaszewski, Daniel
    Gluszko, Grzegorz
    Zaborowski, Michal
    Malesinska, Jolanta
    Kucharski, Krzysztof
    2014 PROCEEDINGS OF THE 21ST INTERNATIONAL CONFERENCE ON MIXED DESIGN OF INTEGRATED CIRCUITS & SYSTEMS (MIXDES), 2014, : 74 - 78
  • [42] An Autonomous Assistance Robot for Multi-Purpose Medical Applications Using ROS
    Kadam, Pawan
    Padalkar, Pratik
    Mohite, Aniket
    Mirajgave, Shantanu
    Gudadhe, Santwana
    2023 INTERNATIONAL CONFERENCE ON COMPUTER, ELECTRICAL & COMMUNICATION ENGINEERING, ICCECE, 2023,
  • [43] Teleoperation of a multi-purpose robot over the internet using augmented reality
    Park, Hyeshin
    Lim, Yo-An
    Pervez, Aslam
    Lee, Beom-Chan
    Lee, Sang-Goog
    Ryu, Jeha
    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 1295 - +
  • [44] Android App Controlled Multi-purpose Robot Using 8051 Microcontroller
    Iyer, Riyya Hari
    Duchaniya, Jyoti
    SMART INTELLIGENT COMPUTING AND APPLICATIONS, VOL 2, 2020, 160 : 301 - 311
  • [45] VISION BASED FLYING ROBOT WITH SENSING DEVICES FOR MULTI-PURPOSE APPLICATION
    Kumar, Pratik
    Rajak, Sumit Kumar
    Kumar, Gaurav
    John, T. Stephen
    2015 INTERNATIONAL CONFERENCE ON INNOVATIONS IN INFORMATION, EMBEDDED AND COMMUNICATION SYSTEMS (ICIIECS), 2015,
  • [46] A multi-purpose optical microsystem for static and dynamic tactile sensing
    Ahmadi, Roozbeh
    Arbatani, Siamak
    Ozhikandathil, Jayan
    Packirisamy, Muthukumaran
    Dargahi, Javad
    SENSORS AND ACTUATORS A-PHYSICAL, 2015, 235 : 37 - 47
  • [47] Innovation as Necessity: TE Rarawa and the Challenges of Multi-Purpose Research
    Henwood, Wendy
    Harris, Aroha
    ALTERNATIVE-AN INTERNATIONAL JOURNAL OF INDIGENOUS PEOPLES, 2007, 3 (02) : 146 - 162
  • [48] On-line precision control of CFETR multipurpose overload robot using deformation model
    Yao, Zhixin
    Wu, Huapeng
    Yang, Yang
    Cheng, Yong
    Pan, Hongtao
    Zhang, Tao
    Yin, Ruochen
    FUSION ENGINEERING AND DESIGN, 2022, 174
  • [49] CORE SIM: A multi-purpose neutronic tool for research and education
    Demaziere, Christophe
    ANNALS OF NUCLEAR ENERGY, 2011, 38 (12) : 2698 - 2718
  • [50] Research of dynamics of carrier system the multi-purpose machine tool
    Atapin, V. G.
    OBRABOTKA METALLOV-METAL WORKING AND MATERIAL SCIENCE, 2011, (04): : 26 - 29