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首页> 外文会议>International conference on nuclear engineering >ON THE USE OF ROBUST COMMAND SHAPING FOR VIBRATION REDUCTION DURING REMOTE HANDLING OF LARGE COMPONENTS IN TOKAMAK DEVICES
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ON THE USE OF ROBUST COMMAND SHAPING FOR VIBRATION REDUCTION DURING REMOTE HANDLING OF LARGE COMPONENTS IN TOKAMAK DEVICES

机译：托卡马克设备中大型组件远程处理过程中的鲁棒命令成形用于减振

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This paper proposes to use robust command shaping methods for reducing the vibrations during remote handling of in-vessel components. The need of deriving efficient vibration control strategies for a safe transportation of large and heavy pay-loads during maintenance procedures in nuclear fusion reactors is the main motivation behind this work. The approach shapes the reference motion command to the component such that the vibratory modes of the system are canceled. We perform the dynamic simulations of a large in-vessel component of the DEMOn-strating fusion power reactor during a remote handling operation. The simulations shows that the method is a possible solution to reduce the vibrations induced by the motion, in both the transient and residual phases. The benefits introduced by command shaping make the method promising towards building control framework for remote handling of in-vessel components in various tokamak devices.
机译：本文提出使用鲁棒的命令整形方法来减少在远程处理船上组件时的振动。这项工作的主要动机是，需要制定有效的振动控制策略，以在核聚变反应堆的维护程序中安全运输大，重载荷。该方法对组件的参考运动命令进行了整形，从而取消了系统的振动模式。我们在远程操作过程中对DEMOn步态聚变动力反应堆的大型船内组件进行了动态仿真。仿真表明，该方法是减少运动在瞬态和残余相中引起的振动的一种可行解决方案。命令整形所带来的好处使该方法有望建立用于远程处理各种托卡马克设备中的船上组件的控制框架。

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