Nuclear Engineering and Technology

Korean Nuclear Society (한국원자력학회)
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Fuzzy-PID controller for motion control of CFETR multi-functional maintenance platform

  • Li, Dongyi (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Lu, Kun (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Cheng, Yong (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Zhao, Wenlong (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Yang, Songzhu (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Zhang, Yu (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Li, Junwei (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Wu, Huapeng (Lappeenranta University of Technology)
  • Received : 2020.09.08
  • Accepted : 2021.01.25
  • Published : 2021.07.25
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Abstract

The motion control of the divertor maintenance system of the China Fusion Engineering Test Reactor (CFETR) was studied in this paper, in which CFETR Multi-Functional Maintenance Platform (MFMP) was simplified as a parallel robot for the convenience of theoretical analysis. In order to design the motion controller of parallel robot, the kinematics analysis of parallel robot was carried out. After that, the dynamic modeling of the hydraulic system was built. As the large variation of heavy payload on MFMP and highly nonlinearity of the system, A Fuzzy-PID controller was built for self-tuning PID controller parameters by using Fuzzy system to achieve better performance. In order to test the feasibility of the Fuzzy-PID controller, the simulation model of the system was built in Simulink. The results have showed that Fuzzy-PID controller can significantly reduce the angular error of the moving platform and provide the stable motion for transferring the divertor.

Keywords

Acknowledgement

This work is supported by the National Key R&D Program of China with Grant No. 2017YFE0300503, Comprehensive Research Facility for Fusion Technology Program of China under Contract No. 2018000052-73-01-001228 and Anhui Extreme Environment Robot Engineering Laboratory. The authors would like to express their sincere gratitude to all the members of CFETR engineering design team.

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