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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：关于在托卡克设备远程处理大型组件期间使用鲁棒指令整形进行减振

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This paper proposes to use robust command shaping methods for reducing the vibrations during remote handling of invessel 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：本文建议使用鲁棒命令整形方法来减少识别invessel组件的振动。在核聚体融合反应堆维护程序期间，在核融合反应堆维护程序期间安全运输效率运输的有效振动控制策略是这项工作背后的主要动力。该方法将参考运动命令形状到组件，使得取消系统的振动模式。在远程处理操作期间，我们在远程处理操作期间执行演示融合功率电抗器的大容量组件的动态模拟。仿真表明，该方法是一种可能的解决方案，以减少运动中的运动引起的振动，瞬态和残留阶段。指挥整形引入的益处使得该方法对构建控制框架来说，用于远程处理各种Tokamak设备中的船舶组件的控制框架。

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