Design of joint three-motor control system for ITER-like multi-purpose deployer

doi:10.16568/j.0254-6086.202501007

Nuclear Fusion and Plasma Physics ›› 2025, Vol. 45 ›› Issue (1): 39-44.DOI: 10.16568/j.0254-6086.202501007

• Nuclear Fusion Engineering • Previous Articles Next Articles

Design of joint three-motor control system for ITER-like multi-purpose deployer

QI Guo-dong1, 2, YAO Da-mao1, 2, ZHONG Chong-feng1, 2

(1. University of Science and Technology of China, Hefei 230026; 2. Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031)

Received:2023-05-06 Revised:2023-08-22 Online:2025-03-15 Published:2025-03-15

类ITER多功能机械臂关节三电机控制系统设计

齐国栋1, 2, 姚达毛*1, 2，仲崇峰1, 2

(1. 中国科学技术大学，合肥 230026；2. 中国科学院合肥物质科学研究院等离子体物理研究所，合肥 230031)

通讯作者: 姚达毛(1963-)，男，安徽铜陵人，研究员，博士生导师，主要从事偏滤器工程、面向等离子体部件工程，真空技术和遥操作技术等方面研究。
作者简介:齐国栋(1999-)，男，河南开封人，硕士研究生，主要从事托卡马克遥操作机械臂研究。
基金资助:
国家MCF能源研发计划(2018YFE0312300)；国家十三五重大基础设施建设项目，聚变堆主机关键系统综合研究设施(2018-000052-73-01-001228)

Abstract

Abstract:

The multi-purpose deployer remote handling system is the main component of tokamak remote handling systems, which is mainly used for internal inspection and internal components maintenance of tokamak. The multi-purpose heavy-load manipulator is an important part of the multi-purpose deployer remote handling system. The key rotary joint control system of the manipulator has large output torque, high positioning accuracy and limited installation size. To solve these problems, a cooperative drive method of three motors is adopted. Therefore, a three-motor synchronous control system based on EtherCAT real-time bus was designed for key joint of ITER-like multi-purpose deployer and tested. Under the present experimental conditions, the position and speed tracking test of a single motor is carried out under no load. The experimental results show that the control system can run normally and the maximum tracking error at the given point is less than 2', which meets the requirements of positioning accuracy. The design and construction of the control system lay a foundation for the no-load synchronous test and loading experiment of the following three motors.

Key words: Remote handling, Multi-purpose deployer, EtherCAT, Three motor control system design

摘要：

多功能机械臂遥操作系统是托卡马克遥操作系统的主要构成部分，主要用于托卡马克装置内部检测和内部部件维护。多功能重载机械臂是多功能机械臂遥操作系统的重要部分，其关键旋转关节输出力矩大、末端定位精度高且安装尺寸有限，针对这些问题采用三台电机协同驱动的方法进行解决。为此针对类ITER多功能机械臂关键关节设计了一种基于EtherCAT实时总线的三电机同步控制系统并完成了测试。在目前实验条件下，对单台电机进行了空载下的位置、速度跟踪测试。实验结果表明，控制系统能够正常运行，在给定点位置最大跟踪误差小于2′，满足定位精度要求。该控制系统的设计和搭建为后续三台电机的空载同步测试和加载实验奠定了基础。

关键词: 遥操作, 多功能机械臂, EtherCAT, 三电机控制系统设计

CLC Number:

TB753

QI Guo-dong, YAO Da-mao, ZHONG Chong-feng.

Design of joint three-motor control system for ITER-like multi-purpose deployer

[J]. Nuclear Fusion and Plasma Physics, 2025, 45(1): 39-44.

齐国栋, 姚达毛, 仲崇峰. 类ITER多功能机械臂关节三电机控制系统设计[J]. 核工业西南物理研究院, 2025, 45(1): 39-44.

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Design of joint three-motor control system for ITER-like multi-purpose deployer

类ITER多功能机械臂关节三电机控制系统设计

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