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Synchronization control of blanket remote maintenance robot based on MPC-CCC algorithm

Published online by Cambridge University Press:  14 August 2023

Dongyi Li Open the ORCID record for Dongyi Li [Opens in a new window] ,
Kun Lu ,
Yong Cheng ,
Huapeng Wu ,
Heikki Handroos ,
Xuanchen Zhang ,
Xinpeng Guo ,
Songzhu Yang ,
Liansheng Du  and
Yu Zhang
Dongyi Li
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China University of Science and Technology of China, Hefei 230026, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China Lappeenranta University of Technology, Lappeenranta, Finland
Kun Lu
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
Yong Cheng
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
Huapeng Wu*
Affiliation:
Lappeenranta University of Technology, Lappeenranta, Finland
Heikki Handroos
Affiliation:
Lappeenranta University of Technology, Lappeenranta, Finland
Xuanchen Zhang
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China University of Science and Technology of China, Hefei 230026, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
Xinpeng Guo
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China University of Science and Technology of China, Hefei 230026, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
Songzhu Yang
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
Liansheng Du
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
Yu Zhang
Affiliation:
Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China
*
Corresponding author: Huapeng Wu; Email: huapeng.wu@lut.fi
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Abstract

This paper studies the synchronization control of the blanket remote maintenance robot (BRMR) of the China fusion engineering test reactor (CFETR). First, the general state space mathematical model of BRMR was established by using a physical-based method. Second, based on the receding horizon optimization of model predictive control (MPC) and cross-coupling error reduction in cross-coupling control (CCC), the innovative MPC-CCC controller was proposed to realize the single-system and multisystem error convergence and high accuracy transportation of blanket through the high accuracy synchronization control of BRMR. Third, to verify the control effectiveness of the MPC-CCC controller, two types of simulations and experiments were implied compared with the original proportional-integral (PI) controller in Mover. Results showed that simulation and experiments were highly consistent. It is found that the use of an MPC-CCC controller can result in up to a 70% reduction in displacement error and up to a 59% reduction in synchronization error compared to the PI controller. And the accuracy of the MPC-CCC controller satisfies the real requirement of the maintenance process of the blanket. This work provides the theoretical basis and practical experience for the highly stable, safe, and efficient maintenance of blankets in the future.

Keywords

blanket remote maintenance robotMoverhydraulic systemMPC-CCCsynchronization control

Information

Type
Research Article
Information
Robotica , Volume 41 , Issue 11 , November 2023 , pp. 3380 - 3408
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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