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

Dongyi Li; Kun Lu; Yong Cheng; Wenlong Zhao; Songzhu Yang; Yu Zhang; Junwei Li; Huapeng Wu

Nuclear Engineering and Technology (Jul 2021)

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

Dongyi Li,
Kun Lu,
Yong Cheng,
Wenlong Zhao,
Songzhu Yang,
Yu Zhang,
Junwei Li,
Huapeng Wu

Affiliations

Dongyi Li: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; University of Science and Technology of China, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China
Kun Lu: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China
Yong Cheng: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China
Wenlong Zhao: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China; Corresponding author. Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China.
Songzhu Yang: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China
Yu Zhang: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China
Junwei Li: Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China; University of Science and Technology of China, Hefei, China; Anhui Extreme Environment Robot Engineering Laboratory, Hefei, China
Huapeng Wu: Lappeenranta University of Technology, Lappeenranta, Finland

Journal volume & issue: Vol. 53, no. 7
pp. 2251 – 2260

Abstract

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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.

Published in Nuclear Engineering and Technology

ISSN: 1738-5733 (Print)
Publisher: Elsevier
Country of publisher: Korea, Republic of
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Nuclear engineering. Atomic power
Website: http://www.journals.elsevier.com/nuclear-engineering-and-technology

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