Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot
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作者:
Zuo, Congju
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China
Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Zuo, Congju
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Qin, Guodong
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Qin, Guodong
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Pan, Hongtao
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Pan, Hongtao
[1
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Xia, Liang
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Xia, Liang
[3
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Wang, Feng
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Wang, Feng
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Zhou, Pucheng
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Zhou, Pucheng
[3
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Qin, Xiaoyan
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Qin, Xiaoyan
[3
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Shi, Ning
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Shi, Ning
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Lu, Leiji
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Lu, Leiji
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Zhao, Ruijuan
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Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Zhao, Ruijuan
[3
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Wan, Chenhui
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Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Wan, Chenhui
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Luo, Guangnan
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Luo, Guangnan
[1
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Wang, Weihua
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Wang, Weihua
[1
,5
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Cheng, Yong
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Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R ChinaChinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
Cheng, Yong
[1
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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
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.