Robust control of Cassette Multi-functional Mover for ITER remote handling tasks

L. Zhai (Corresponding Author), J. Mattila, Hannu Saarinen, T. Virvalo

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)

Abstract

The Cassette Multi-functional Mover (CMM) is designed for performing safety-critical divertor cassettes movements in ITER. Therefore, special attention should be paid to the design and analysis of its feedback controllers. Firstly, the design of the multivariable tracking controller possesses many challenges. The hydraulic manipulator dynamics are highly nonlinear; moreover, the loaded mass spans a wide range. Secondly, a number of test runs (even a large number) do not necessarily reveal the controller sensitivity to all the system uncertainties. Thus, some theoretical tools are needed to assess the robustness of the controller. H-based approach is a reasonable choice since it provides a set of metrics to evaluate the controller robustness which can be validated in tests. In this paper, the dynamic model of CMM is first derived, characterizing the nominal system model and the model uncertainties. Then, a multivariable H loop-shaping controller is synthesized which ensures both the robust stability and robust performance. Finally, the designed controller is validated by simulation results.
Original languageEnglish
Pages (from-to)2008-2011
Number of pages4
JournalFusion Engineering and Design
Volume86
Issue number9-11
DOIs
Publication statusPublished - 2011
MoE publication typeA1 Journal article-refereed
Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
Duration: 27 Sep 20101 Oct 2010
Conference number: 26

Fingerprint

Robust control
Controllers
Robustness (control systems)
Manipulators
Dynamic models
Hydraulics
Feedback

Keywords

  • Water hydraulic manipulator
  • Robust control
  • Remote handling
  • ITER

Cite this

Zhai, L. ; Mattila, J. ; Saarinen, Hannu ; Virvalo, T. / Robust control of Cassette Multi-functional Mover for ITER remote handling tasks. In: Fusion Engineering and Design. 2011 ; Vol. 86, No. 9-11. pp. 2008-2011.
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abstract = "The Cassette Multi-functional Mover (CMM) is designed for performing safety-critical divertor cassettes movements in ITER. Therefore, special attention should be paid to the design and analysis of its feedback controllers. Firstly, the design of the multivariable tracking controller possesses many challenges. The hydraulic manipulator dynamics are highly nonlinear; moreover, the loaded mass spans a wide range. Secondly, a number of test runs (even a large number) do not necessarily reveal the controller sensitivity to all the system uncertainties. Thus, some theoretical tools are needed to assess the robustness of the controller. H∞-based approach is a reasonable choice since it provides a set of metrics to evaluate the controller robustness which can be validated in tests. In this paper, the dynamic model of CMM is first derived, characterizing the nominal system model and the model uncertainties. Then, a multivariable H∞ loop-shaping controller is synthesized which ensures both the robust stability and robust performance. Finally, the designed controller is validated by simulation results.",
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Robust control of Cassette Multi-functional Mover for ITER remote handling tasks. / Zhai, L. (Corresponding Author); Mattila, J.; Saarinen, Hannu; Virvalo, T.

In: Fusion Engineering and Design, Vol. 86, No. 9-11, 2011, p. 2008-2011.

Research output: Contribution to journalArticleScientificpeer-review

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AU - Zhai, L.

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AB - The Cassette Multi-functional Mover (CMM) is designed for performing safety-critical divertor cassettes movements in ITER. Therefore, special attention should be paid to the design and analysis of its feedback controllers. Firstly, the design of the multivariable tracking controller possesses many challenges. The hydraulic manipulator dynamics are highly nonlinear; moreover, the loaded mass spans a wide range. Secondly, a number of test runs (even a large number) do not necessarily reveal the controller sensitivity to all the system uncertainties. Thus, some theoretical tools are needed to assess the robustness of the controller. H∞-based approach is a reasonable choice since it provides a set of metrics to evaluate the controller robustness which can be validated in tests. In this paper, the dynamic model of CMM is first derived, characterizing the nominal system model and the model uncertainties. Then, a multivariable H∞ loop-shaping controller is synthesized which ensures both the robust stability and robust performance. Finally, the designed controller is validated by simulation results.

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KW - Remote handling

KW - ITER

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