聚变堆多功能重载维护机械臂关节驱动策略研究  

Research on Joint Drive Strategy of Multi-purpose Heave-duty Maintenance Mechanical Arm for Fusion Reactor

作　　者：孙拥军 胡南南 程勇 潘洪涛[2] 程羊 张俊 SUN Yongjun;HU Nannan;CHENG Yong;PAN Hongtao;CHENG Yang;ZHANG Jun(Faculty of Electric Power Engineering,Kunming University of Science and Technology,Kunming 650500,China;Institute of Plasma Physics,Chinese Academy of Science,Hefei 230031,China;Science Island Branch,Graduate School of University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]昆明理工大学电力工程学院,云南昆明650500 [2]中国科学院等离子体物理研究所,安徽合肥230031 [3]中国科学技术大学研究生院科学岛分院,安徽合肥230026

出　　处：《电力科学与工程》2025年第4期21-27,共7页Electric Power Science and Engineering

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

摘　　要：多功能重载维护机械臂长9 m,末端负载2.5 t,主要用于以蛇形姿态搭载工具进行维护操作。针对工业常用同步控制方式难以实现重载机械臂关节多电机转矩协同的问题,提出了主从控制加转矩限幅的策略。该策略通过设定主轴转矩对从轴转矩进行限幅,并设置从轴速度附加值使从轴电流环饱和,从而提升从轴的转矩响应速度,实现快速转矩跟随。为验证策略的有效性,设计了测试平台,对比了工业常用同步控制方式与主从控制加转矩限幅策略的性能。测试结果表明,主从控制加转矩限幅策略在转矩同步性能上显著优于工业常用方式,转矩同步误差降低了95.7%。The multi-purpose heave-duty mechanical arm is 9 meters long with an end load of 2.5 tons,primarily used for maintenance operations in a serpentine posture with various tools.To address the issue of industrial common synchronous control modes being unable to achieve torque coordination among multiple motors in the joints of the heavy-duty mechanical arm,a master-slave control with torque limiting strategy is proposed.This strategy limits the torque of the slave axis by setting the torque of the master axis and adds a speed offset to the slave axis to saturate the current loop of the slave axis,thereby enhancing the torque response speed of the slave axis and achieving rapid torque following.To validate the effectiveness of the strategy,a test platform is designed to compare the performance of the industrial common synchronous control modes with the master-slave control plus torque limiting strategy.The test results show that the master-slave control with torque limiting strategy significantly outperforms the industrial common method in torque synchronization performance,reducing torque synchronization error by 95.7%.

关 键 词：重载机械臂 遥操作系统 多电机同步 关节驱动 核环境 

分 类 号：TL626[核科学技术—核技术及应用]