Data driven modeling of heavy-duty joint system for DEMO manipulators: An initial study from MPD joint simulation

Ming Li; Huapeng Wu; Changyang Li; Zhixin Yao; Qi Wang; Heikki Handroos; Tom Deighan; Brace William; Olive Crofts

doi:10.1016/j.fusengdes.2024.114327

Data driven modeling of heavy-duty joint system for DEMO manipulators: An initial study from MPD joint simulation

Ming Li (Corresponding Author), Huapeng Wu, Changyang Li, Zhixin Yao, Qi Wang, Heikki Handroos, Tom Deighan, Brace William, Olive Crofts

BA5605 Agile intelligent production systems

Research output: Contribution to journal › Article › Scientific › peer-review

Abstract

This study investigates the subspace modeling method in developing surrogate model of a heavy-duty joint system in a muti-purpose deployer. The joint system is constructed in the Matlab SIMULINK Simscape environment, which includes the multibody dynamics with friction models, meshing loss models and viscous models. The input and output data generated in simulation are used to develop the subspace model. The result shows the subspace modeling method can accurately identify the system order and linear part of dynamics in this joint system. The nonlinearity contributed by the gear friction, meshing and viscosity can't be neglected in the surrogate model. Further model augmentation technics are needed to improve the capability of subspace modeling method applying in nonlinear system.

Original language	English
Article number	114327
Number of pages	5
Journal	Fusion Engineering and Design
Volume	202
DOIs	https://doi.org/10.1016/j.fusengdes.2024.114327
Publication status	Published - May 2024
MoE publication type	A1 Journal article-refereed

Funding

This work has been carried out within the framework of the EUROfusion Consortium, funded by the European Union via the Euratom research and training programme (Grant Agreement No 101052200 – EUROfusion). Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or European Commission. Neither the European Union nor the European Commission can be held responsible for them.

Keywords

Data-driven
DEMO
Dynamic modeling
Manipulator
Remote maintenance

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10.1016/j.fusengdes.2024.114327Licence: CC BY

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title = "Data driven modeling of heavy-duty joint system for DEMO manipulators: An initial study from MPD joint simulation",

abstract = "This study investigates the subspace modeling method in developing surrogate model of a heavy-duty joint system in a muti-purpose deployer. The joint system is constructed in the Matlab SIMULINK Simscape environment, which includes the multibody dynamics with friction models, meshing loss models and viscous models. The input and output data generated in simulation are used to develop the subspace model. The result shows the subspace modeling method can accurately identify the system order and linear part of dynamics in this joint system. The nonlinearity contributed by the gear friction, meshing and viscosity can't be neglected in the surrogate model. Further model augmentation technics are needed to improve the capability of subspace modeling method applying in nonlinear system.",

keywords = "Data-driven, DEMO, Dynamic modeling, Manipulator, Remote maintenance",

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AU - Li, Ming

AU - Wu, Huapeng

AU - Li, Changyang

AU - Yao, Zhixin

AU - Wang, Qi

AU - Handroos, Heikki

AU - Deighan, Tom

AU - William, Brace

AU - Crofts, Olive

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AB - This study investigates the subspace modeling method in developing surrogate model of a heavy-duty joint system in a muti-purpose deployer. The joint system is constructed in the Matlab SIMULINK Simscape environment, which includes the multibody dynamics with friction models, meshing loss models and viscous models. The input and output data generated in simulation are used to develop the subspace model. The result shows the subspace modeling method can accurately identify the system order and linear part of dynamics in this joint system. The nonlinearity contributed by the gear friction, meshing and viscosity can't be neglected in the surrogate model. Further model augmentation technics are needed to improve the capability of subspace modeling method applying in nonlinear system.

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Data driven modeling of heavy-duty joint system for DEMO manipulators: An initial study from MPD joint simulation

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Keywords

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