Purpose – The purpose of this paper is to investigate an intelligent control for water hydraulic position servo system which is intent to be used in remote control robot for fusion reactor. The dynamic model of water hydraulic servo control system is built and proportional–integral–derivative (PID) controller is used. Design/methodology/approach – PID control is the most common control algorithm used in industry and has been a conventional tool used to operate closed-loop control system; however, it is very difficult to achieve high accuracy and fast response by using the traditional way to tune its perimeters. To improve the control performance, optimization algorithm can be applied to search the best parameters of PID. This paper presents a search algorithm using particle swarm with H2 control standards objective function to optimize PID parameters. Findings – By comparing simulation and mock-up experiments’ results from different control methods, the particle swarm optimization algorithm presents better performance and is more effective for tuning PID parameters. Originality/value – This paper presents an effective way to ensure safety and efficiency for remote handling maintenances of China Fusion Engineering Test Reactor.

The remote handling operations of the China fusion engineering test reactor blanket is highly challenging since the tasks performed by the water hydraulic manipulator, which is made up of three hydraulic cylinders, involve driving up, synchronous controlling and transporting from inside the vacuum vessel. The blanket is made of stainless steel, high 7 m and weigh 60 t, which makes the assembly and maintenance more difficult. A general synchronization control system cannot be used due to its poor stability and low precision in the heavy duty working process. Therefore, to achieve higher precision in controlling of three hydraulic cylinders, one of the most suitable options should be provided. This paper studies the control of synchronous system, besides, it also discusses an effective way to improve synchronization accuracy by use AMEsim. The results of simulations demonstrates that insert the low-pass filter in control loop can be utilized to improve the precision of manipulator.

No abstract

No abstract

No abstract