Fuzzy-PID controller for motion control of CFETR multi-functional maintenance platform

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 mot...

Full description

Saved in:
Bibliographic Details
Published inNuclear engineering and technology Vol. 53; no. 7; pp. 2251 - 2260
Main Authors Li, Dongyi, Lu, Kun, Cheng, Yong, Zhao, Wenlong, Yang, Songzhu, Zhang, Yu, Li, Junwei, Wu, Huapeng
Format Journal Article
LanguageKorean
Published 2021
Subjects
CFETR
Simulation
Hydraulics
Kinematics analysis
Parallel robot
Fuzzy-PID
Online AccessGet full text

Cover

More Information
Summary: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.
Bibliography:KISTI1.1003/JNL.JAKO202124452800545
ISSN:1738-5733
2234-358X