Nuclear Engineering and Technology

  • 제52권11호
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  • Pages.2630-2637
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  • 2020
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  • 1738-5733(pISSN)
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  • 2234-358X(eISSN)
한국원자력학회 (Korean Nuclear Society)
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Dynamic analysis of multi-functional maintenance platform based on Newton-Euler method and improved virtual work principle

  • Li, Dongyi (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Lu, Kun (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Cheng, Yong (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Zhao, Wenlong (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Yang, Songzhu (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Zhang, Yu (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Li, Junwei (Institute of Plasma Physics, Chinese Academy of Sciences) ;
  • Shi, Shanshuang (Institute of Plasma Physics, Chinese Academy of Sciences)
  • 투고 : 2020.01.21
  • 심사 : 2020.04.14
  • 발행 : 2020.11.25
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초록

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

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참고문헌

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피인용 문헌

  1. Modeling and Vibration Analysis of a 3-UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS-DT-TMM vol.2021, 2020, https://doi.org/10.1155/2021/9918097
  2. Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller vol.21, pp.14, 2020, https://doi.org/10.3390/s21144653
  3. Fuzzy-PID controller for motion control of CFETR multi-functional maintenance platform vol.53, pp.7, 2020, https://doi.org/10.1016/j.net.2021.01.025