Fusion reactor manipulator coupling error analysis and virtual-real interaction control

IF 2 3区工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY

Fusion Engineering and Design Pub Date : 2025-09-18 DOI:10.1016/j.fusengdes.2025.115441

Congju Zuo , Pucheng Zhou , Feng Wang , Guodong Qin , Shijie Liu , Xiaoyan Qin , Ruijuan Zhao , Jing Yu , Ling Ma , Zhixin Yao

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Abstract

This paper introduces a cross-platform virtual-real interaction control system architecture for enhancing the working accuracy and human-machine interaction performance of the fusion reactor manipulator (FRM) under extreme environments inside a fusion building. The FRM error model is established by combining the modified Denavit-Hartenberg parameters and the dynamic rigid-flexible coupling error analysis results. To present the intrinsic unobservable behaviors and characteristics (stress, strain, temperature, etc.) of FRM, a cross-platform virtual-real interaction control system architecture for FRM is constructed based on Unity 3D and digital twin technology. An algorithm development platform based on MATLAB/Simulink-ROS integration is proposed to facilitate the rapid verification and integration of new algorithms for FRM. A data fusion-based design method for the FRM morphology deformation prediction system is designed. Finally, a 1:6 scale FRM prototype system is developed, and the experimental results show that the maximum position error of the compensated FRM is <1.2 mm, and the virtual-real follow mapping, and collision warning are realized.

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核聚变反应堆机械臂耦合误差分析与虚实交互控制

为提高聚变反应堆机械臂在极端环境下的工作精度和人机交互性能，提出了一种跨平台的虚实交互控制系统体系结构。结合修正的Denavit-Hartenberg参数和动态刚柔耦合误差分析结果，建立了FRM误差模型。为了呈现FRM固有的不可观测行为和特征（应力、应变、温度等），基于Unity 3D和数字孪生技术构建了FRM跨平台虚拟-真实交互控制系统架构。为了便于FRM新算法的快速验证和集成，提出了基于MATLAB/Simulink-ROS集成的算法开发平台。设计了一种基于数据融合的FRM形态变形预测系统设计方法。最后，研制了1:6比例尺FRM原型系统，实验结果表明，补偿后的FRM最大位置误差为1.2 mm，实现了虚实跟踪映射和碰撞预警。

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来源期刊

Fusion Engineering and Design 工程技术-核科学技术

CiteScore

3.50

自引率

23.50%

发文量

275

审稿时长

3.8 months

期刊介绍： The journal accepts papers about experiments (both plasma and technology), theory, models, methods, and designs in areas relating to technology, engineering, and applied science aspects of magnetic and inertial fusion energy. Specific areas of interest include: MFE and IFE design studies for experiments and reactors; fusion nuclear technologies and materials, including blankets and shields; analysis of reactor plasmas; plasma heating, fuelling, and vacuum systems; drivers, targets, and special technologies for IFE, controls and diagnostics; fuel cycle analysis and tritium reprocessing and handling; operations and remote maintenance of reactors; safety, decommissioning, and waste management; economic and environmental analysis of components and systems.