Load sensing and related control system for the articulated transporter of JET

Author

Colombi, S. ; Raimondi, T.

Author_Institution

Swiss Federal Inst. of Technol., Lausanne, Switzerland

Volume

1

fYear

1995

fDate

30 Sep-5 Oct 1995

Firstpage

758

Abstract

The paper describes the “electronic” stiffening of the actuators developed for the articulated boom of JET. Experimental trials on a two joints boom have confirmed the improvements of speed and reliability that can be achieved. Based on these developments, a new control system for the boom is now under development together with a simulator intended to make easier and faster the system commissioning, design and optimization as well as the fault identification. The main originalities of the paper are the modeling of the actuators, based on a mechanical equivalent and an extension of the Craig´s computed torque method to elastic systems

Keywords

actuators; fusion reactor design; fusion reactors; materials handling; optimisation; power system control; telerobotics; Craig computed torque method; JET; actuators; articulated boom; articulated transporter; control system; elastic systems; electronic stiffening; fault identification; fusion reactor; load sensing; reliability improvement; speed improvement; system commissioning; system design; system optimization; two joints boom; Computational modeling; Control system synthesis; Control systems; DC motors; Elasticity; Force feedback; Hydraulic actuators; Linearity; Servomechanisms; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fusion Engineering, 1995. SOFE '95. Seeking a New Energy Era., 16th IEEE/NPSS Symposium

Conference_Location

Champaign, IL

Print_ISBN

0-7803-2969-4

Type

conf

DOI

10.1109/FUSION.1995.534333

Filename

534333