聚变堆大型机械臂鲁棒自适应精度控制

doi:10.13229/j.cnki.jdxbgxb.20231431

Abstract

Abstract:

In order to solve the problem of precise control of large robotic arms in the remote operation system of fusion reactors， a study on robust adaptive precision control of large robotic arms in fusion reactors is proposed. This study designs a robust adaptive sliding mode control strategy based on the Hamilton Jacobi equation to suppress the influence of uncertainty and time-varying parameters on the system， and proves the stability of the controller through Lyapunov theory. To solve the position error caused by non geometric parameters such as rigid flexible coupling on large robotic arms， a variable parameter accuracy control algorithm based on dynamic controllers is proposed， which integrates the principle of workspace grid based variable parameters for parameter identification and can achieve non geometric parameter error compensation of robotic arms. The experimental results show that this method effectively improves the dynamic control accuracy of the robotic arm and suppresses the influence of non geometric parameters.

Key words: fusion reactor, large manipulator, robust adaptive, variable parameter compensation, accuracy control

CLC Number:

TP241.3

Cong-ju ZUO,Guo-dong QIN,Hong-tao PAN,Yong CHENG,Pu-cheng ZHOU,Xiao-yan QIN,Wei-hua WANG. Robust adaptive accuracy control of large manipulator for fusion reactor[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 52-62.

Figures/Tables 18

Fig.1

Fig.2

Table 1

D-H parameters for CMOR"

连杆	变量	转角	位移/m	范围
1	0	$(0,0, 0)$	$(d 0, 0,0)$	0~6 726 mm
2	$θ 1$	$(0,0, 0)$	$(1.76,0, 0)$	$- 90 ° ～ 90 °$
3	$θ 2$	$(90 °, 0,90 °)$	$(0,0, 0)$	$- 90 ° ～ 90 °$
4	$θ 3$	$(- 90 °, 0,90 °)$	$(0.375,0, 2.24)$	$- 180 ° ～ 180 °$
5	$θ 4$	$(- 90 °, 0, - 90 °)$	$(0.375,0, 0)$	$0 ° ～ 90 °$
6	$θ 5$	$(- 90 °, 0,90 °)$	$(0,0, 2.24)$	$- 180 ° ～ 180 °$
7	$θ 6$	$(90 °, 0,0)$	$(0,0, 0)$	$- 90 ° ～ 90 °$
8	$θ 7$	$(- 90 °, 0, - 90 °)$	$(0,0, 1.65)$	$- 100 ° ～ 100 °$
9	$θ 8$	$(0,0, 0)$	$(0,0, 0)$	$- 90 ° ～ 90 °$

Table 1

Fig.3

Fig.4

Table 2

Fig.5

Fig.6

Fig.7

Table 3

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Table 4

Fig.14

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关节	刚度
1	9.0×10⁹ N·m/rad
2	8.6×10⁹ N·m/rad
3	8.0×10⁹ N·m/rad
4	8.0×10⁹ N·m/rad
5	3.0×10⁹ N·m/rad
6	4.0×10⁹ N·m/rad
7	2.0×10⁹ N·m/rad
8	3.0×10⁹ N·m/rad

关节	质量/kg	主惯量/（kg·m^-2）	质心/m
1	2 739	3582	（0.895，0，0）
2	420	163	（0.37，0，0.074）
3	237	46	（-0.138， -0.064，0.67）
4	181	77	（0.33，0.308，0.07）
5	168	16	（0，0，0.78）
6	331	99	（0，0.426，0.144）
7	61	4	（0， -0.089，0.353）
8	167	19	（0.09，0.211，0.019）

连杆	负载=2 000 kg	负载=1 000 kg	负载=500 kg	负载=0 kg
1	-1.278×10^-2	-7.563 9×10^-3	-5.117 8×10^-3	-2.647 5×10^-3
2	-1.845×10^-2	-1.155 3×10^-2	-8.109 2×10^-3	-4.737 3×10^-3
3	-1.989×10^-2	-1.299 7×10^-2	-9.554 1×10^-3	-6.186 1×10^-3
4	-1.601×10^-2	-1.094 5×10^-2	-8.421 2×10^-3	-5.961 3×10^-3
5	1.237 7×10^-2	7.155 6×10^-3	4.558 2×10^-3	2.022 7×10^-3
6	1.824×10^-2	1.131 6×10^-2	7.858 5×10^-3	4.470 8×10^-3
7	1.967 7×10^-2	1.275 8×10^-2	9.302 7×10^-3	5.917 3×10^-3
8	1.565 4×10^-2	1.044 8×10^-2	7.861 5×10^-3	5.334 1×10^-3

Robust adaptive accuracy control of large manipulator for fusion reactor

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