Simulation and Optimization of Synchronization Control System for CFETR Water Hydraulic Manipulator Based on AMEsim

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• 作者：Manfen Han ; Yantao Song ; Wenlong Zhao ; Yong Cheng ; Ji Xiang
• 关键词：Water hydraulic ; Electro ; hydraulic position servo control ; AMEsim
• 刊名：Journal of Fusion Energy
• 出版年：2015
• 出版时间：June 2015
• 年：2015
• 卷：34
• 期：3
• 页码：566-570
• 全文大小：1,364 KB
• 参考文献：1.Y.T. Song, S.T. Wu, J.G. Li, Concept design of CFETR tokamak machine. IEEE 25th symposium on fusion engineering, San Francisco, USA, 2013
  2.Y.T. Song, S.T. Wu, Y.X. Wan, Concept Design on RH maintenance of CFETR Tokomak reactor. Fusion Eng. Des. 89(9), 2331-335 (2014)View Article
  3.M. Al-saedi, Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine. [PHD], Lappeenranta University of Technology, Finland, 2014
  4.T.H. Liu, W.Z. Wen, H. Li et al., The comparison study on simulation issue of position synchronized control for hydraulic cylinder based on AMEsim and MATLAB. Hydraul. Pneum. Seals 6, 32-4 (2006)
  5.N.W. Zhou, Y.F. Wang, K.F. Wang, Dynamic characteristics of hydraulic position control system based on AMESim. Mech. Eng. Autom. 4, 82-4 (2010)View Article
  
• 作者单位：Manfen Han (1)
  Yantao Song (1) (2)
  Wenlong Zhao (2)
  Yong Cheng (2)
  Ji Xiang (2)
  
  1. University of Science and Technology of China, Hefei, 230026, China
  2. Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, 230031, China
  
• 刊物类别：Engineering
• 刊物主题：Nuclear Engineering
  
• 出版者：Springer Netherlands
• ISSN：1572-9591

文摘

The remote handling operations of the China fusion engineering test reactor blanket is highly challenging since the tasks performed by the water hydraulic manipulator, which is made up of three hydraulic cylinders, involve driving up, synchronous controlling and transporting from inside the vacuum vessel. The blanket is made of stainless steel, high 7?m and weigh 60?t, which makes the assembly and maintenance more difficult. A general synchronization control system cannot be used due to its poor stability and low precision in the heavy duty working process. Therefore, to achieve higher precision in controlling of three hydraulic cylinders, one of the most suitable options should be provided. This paper studies the control of synchronous system, besides, it also discusses an effective way to improve synchronization accuracy by use AMEsim. The results of simulations demonstrates that insert the low-pass filter in control loop can be utilized to improve the precision of manipulator.