聚变堆遥操作上层协同控制系统设计和测试  

Design and test of high-level collaborative control system for fusion reactor remote handling

作　　者：姚海峰 张琼 杨洋 常赛赛 彭城 张璇琛 程勇 YAO Hai-feng;ZHANG Qiong;YANG Yang;CHANG Sai-sai;PENG Cheng;ZHANG Xuan-chen;CHENG Yong(Institute of Plasma Physics,Chinese Academy of Sciences,Hefei 230031;Hefei University of Technology,Hefei 230009;University of Science and Technology of China,Hefei 230022)

机构地区：[1]中国科学院等离子体物理研究所,合肥230031 [2]合肥工业大学,合肥230009 [3]中国科学技术大学,合肥230022

出　　处：《核聚变与等离子体物理》2023年第1期18-25,共8页Nuclear Fusion and Plasma Physics

基　　金：国家重大科技基础设施建设项目(2018-000052-73-01-001228)。

摘　　要：为了解决聚变堆遥操作维护上层控制系统普遍存在的软件功能模块过于集中、拓展性差、不具备中层运动规划能力等问题,设计了一种基于机器人操作系统(ROS)的上层协同控制系统。该系统采用分布式架构,基于市场成熟的开发平台进行设计,集成了中层运动规划与动力学虚拟仿真功能。通过“轴销抓取”的实验场景测试的结果表明:该系统满足设计需求,运行稳定。A new high-level collaborative control system for remote handling of fusion reactors based on the robot operating system(ROS)was proposed to tackle the problems of overly integrated function modules,poor extendibility,and absence of mid-level motion planning ability of the original system.The system adopted distributed architecture,based on a mature development platform,and integrated middle-level motion planning and dynamic virtual simulation functions.The“shaft pin grasping”experiment demonstrated that the high-level control system satisfied the design requirements and stability.

关 键 词：聚变工程 遥操作 上层控制系统 ROS 数据库 运动规划 

分 类 号：TL362.5[核科学技术—核技术及应用]