Fuzzy-PID controller for motion control of CFETR multi-functional maintenance platform
Creators
- 1. Chinese Academy of Sciences, Hefei (China)
- 2. Lappeenranta University of Technology, Lappeenranta (Finland)
Description
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
Additional details
Publishing Information
- Journal Title
- Nuclear Engineering and Technology
- Journal Volume
- 53
- Journal Issue
- 7
- Series
- 23 refs, 14 figs, 3 tabs
- Journal Page Range
- p. 2251-2260
- ISSN
- 1738-5733
INIS
- Country of Publication
- Korea, Republic of
- Country of Input or Organization
- Korea, Republic of
- INIS RN
- 53091390
- Subject category
- S21: SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS; S42: ENGINEERING;
- Descriptors DEI
- CONTROL; DESIGN; DIVERTORS; ENGINEERING; ERRORS; FUZZY LOGIC; HYDRAULICS; MAINTENANCE; NONLINEAR PROBLEMS; PERFORMANCE; ROBOTS; SIMULATION; TEST REACTORS; TUNING; VARIATIONS
- Descriptors DEC
- EQUIPMENT; FLUID MECHANICS; MATHEMATICAL LOGIC; MECHANICS; REACTORS; RESEARCH AND TEST REACTORS; TEST FACILITIES