Evaluation methodology of a manipulator actuator for the dismantling process during nuclear decommissioning

Park, Jong-Won; Kim, Chang-Hoi; Jeong, Kyungmin; Choi, Byung-Soon; Moon, Jei‐Kwon

doi:10.1016/j.anucene.2015.12.038

Cited by 1 publication

(2 citation statements)

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“…The desired characteristic equation and desired eigenvalue λ 𝑑 can be designed by pole assignment method. Desired characteristic equation can be: p ( λ 𝑑 ) = (λ + λ 𝑑 ) 4 , then design the controller by selecting λ 𝑑 .…”

Section: A Controller Parameter Design Proceduresmentioning

confidence: 99%

“…However, these systems and components have a high dose of residual radioa ctivity and temperature, together with the large volume and quality of the related equipment and the complex shape, which make it impossible to use the conventional disassembly process. Therefore, remote-controlled manipulator technology has been an important topic to cut and handle equipment and structures of decommissioned nuclear power plants [2], [3], [4].…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy TSMCSPO for Trajectory Tracking of Nuclear Reactor Dismantlement Robot Manipulator

Khan

Lee

et al. 2023

IEEE Access

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In this study, a fuzzy logic system to tune the parameters of terminal sliding mode control with a sliding perturbation observer (TSMCSPO) in real-time is proposed according to the system's state changes to improve the control performance of TSMCSPO for a 5 -DOF robot manipulator used for nuclear reactor dismantlement. Accurate trajectory tracking control is required when using a multi-DOF robot manipulator to cut the decommissioned nuclear reactor. A TSMCSPO scheme using TSMC in SPO has been proposed in previous research, which improves the estimation and convergence performance of traditional SMCSPO. In TSMCSPO, the parameters of the controller are important to enhance the control performance. Moreover, due to the influence of the working environment and the uncertainty of the system, the characteristics of the system will be changed during the trajectory tracking control of the multi-degree-of-freedom robot manipulator. Therefore, real-time optimal parameter tuning is required. In this regard, using fuzzy logic to tune the parameters is an effective method. By designing fuzzy rules, the controller parameters can be optimized. In this study, the proposed algorithm and, the trajectory tracking control simulation of the robot manipulator in the nuclear reactor vessel internal (RVI) are implemented in MATLAB/Sim ulink environment. The control algorithm is verified by the experiments on a real robot manipulator platform. The outstanding control performance of the algorithm is demonstrated by comparing the trajectory tracking error between the proposed fuzzy TSMCSPO scheme and TSMCSPO with fixed parameters.

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Section: A Controller Parameter Design Proceduresmentioning

confidence: 99%