ITER PF6线圈绕制多层多轴同步控制系统的研究
发布时间：2018-11-19 20:34
【摘要】：本文围绕ITER装置PF6极向场线圈绕制多层多轴同步控制的研究,由于PF6线圈绕制尺寸大、单匝导体绕制成形的尺寸精度高、绕制计长精确、绕制的效率及控制系统稳定性的特点,采用具有多层多轴拓扑结构的同步系统。多层多轴同步控制系统的研究具有综合性强且涵盖多门学科,深入开展这方面的研究对于提高我国大型线圈绕制的研制水平具有重要的理论和实际意义。本文在分析国内外现有的同步控制方法的基础上,对多种同步方案进行了研究比较,分析了不同方案对于系统同步控制性能影响及其改进措施,搭建了ITER PF6线圈双线并绕同步控制实验平台。论文主要研究工作及成果如下:介绍了ITER PF6线圈结构和绕制特点,研究国内外的线圈绕制流程,对绕制过程进行了分析,主要采用了导体放送、矫直校正、喷砂清洗、弯绕成型及回转平台等单元组成的绕制过程。在研究传统同步控制方法基础上,提出了多层多轴拓扑结构同步控制,具有更广更全面的结构特征。深入分析了多层多轴拓扑结构下的同层主令参考同步控制、多层多轴主从同步控制、多层多轴虚拟主轴同步控制策略,进行了多层多轴同步控制对象的仿真建模。研究了系统中参数对于同步性能的影响规律及其设定方法。在多轴同步控制理论研究基础上,提出一种具有多层多轴叠形交叉耦合误差的控制方法,即所有电机对同一给定的参考信号实现一致跟随,同层的轴间为基于同一给定控制加误差补偿的环形耦合控制方式,层间轴通过主从同步控制方式,经过分析得出随着层数增加层间的同步误差增大,多层多轴叠形交叉耦合误差主要有层间的跟踪误差和同步误差。对于多层多轴拓扑结构的复杂同步控制系统,该方法进一步提高了系统的同步性能,是一种比较理想的同步控制方法。采用以多层多轴拓扑结构的主从同步控制系统,针对ITER PF6超导线圈分为9个双饼结构,搭建了ITER PF6线圈双线并绕同步控制系统实验平台,两条绕制线呈180度完全对称分布,采用A馈送线被选择作为主,导电体B馈送线设备的速度由旋转台的速度来确定的方式。PF6线圈绕制系统是相互关联的多轴组成的联动系统,由于PF6线圈导体尺寸大,线圈要求精度高,线圈绕制过程中的多轴控制有特定要求,因此对PF6线圈绕制系统中多层多轴拓扑结构的研究,不仅对完成PF6线圈的绕制工作有重要和直接的意义,而且也可为今后大型磁体绕制的复杂控制系统设计提供经验。以搭建PF6线圈绕制实验平台的顺序进行了多层多轴同步控制系统的实验研究,进行了标定实验、分步测试实验、重载测试实验、系统联调实验等,实验验证了多层多轴同步控制具有较高的同步性能和稳定性。
[Abstract]:This paper focuses on the study of multi-layer and multi-axis synchronous control of PF6 poloidal field coil winding in ITER device. Due to the large winding size of PF6 coil, the high dimensional precision of single-turn conductor winding, the precision of winding length, the efficiency of winding and the stability of control system, this paper focuses on the research of multi-layer and multi-axis synchronous control of PF6 poloidal field coil winding in ITER device. The synchronization system with multi-layer multi-axis topology is adopted. The research of multi-layer and multi-axis synchronous control system is comprehensive and covers many disciplines. It is of great theoretical and practical significance to develop this research in depth to improve the development level of large coil winding in China. Based on the analysis of the existing synchronization control methods at home and abroad, this paper studies and compares various synchronization schemes, and analyzes the effects of different schemes on the synchronization control performance of the system and its improvement measures. The experiment platform of ITER PF6 coil double wire and synchronous control is built. The main research work and results are as follows: the structure and characteristics of ITER PF6 coil are introduced, the winding process at home and abroad is studied, and the winding process is analyzed. Winding process consisting of bending forming and rotating platform. Based on the study of traditional synchronization control methods, a multi-layer and multi-axis topology synchronization control is proposed, which has wider and more comprehensive structural characteristics. In this paper, the synchronization strategy of the same layer reference synchronization control, multi-layer multi-axis master-slave synchronization control and multi-layer multi-axis virtual spindle synchronization control under multi-layer and multi-axis topology is analyzed, and the simulation modeling of multi-layer and multi-axis synchronous control object is carried out. The influence of parameters on synchronization performance and its setting method are studied. Based on the research of multi-axis synchronous control theory, a control method with multi-layer multi-axis overlapping cross-coupling error is proposed, in which all motors follow the same given reference signal uniformly. The axis of the same layer is a loop coupling control method based on the same given control plus error compensation. The interlayer axis is controlled by master-slave synchronization. Through analysis, it is concluded that the synchronization error between layers increases with the increase of the number of layers. The multi-layer multi-axis cross-coupling error mainly includes the tracking error and synchronization error. For the complex synchronous control system with multi-layer and multi-axis topology, this method improves the synchronization performance of the system and is an ideal synchronization control method. A master-slave synchronous control system with multi-layer and multi-axis topology is adopted. The ITER PF6 superconducting coil is divided into nine double pie structures. The experimental platform of ITER PF6 coil double-wire and winding synchronous control system is built. The two winding wires are distributed symmetrically at 180 degrees. The speed of the conductive B feeder is determined by the speed of the rotating table. The PF6 coil winding system is a interconnected multi-axis linkage system, because of the large conductor size of the PF6 coil. Because of the high precision of the coil and the special requirement of the multi-axis control in the winding process of the coil, the study of the multi-layer and multi-axis topology in the winding system of the PF6 coil is not only of great and direct significance to the winding of the PF6 coil. It can also provide experience for the design of complex control system for large magnet winding in the future. The multilayer and multi-axis synchronous control system is studied in the order of setting up the PF6 coil winding experiment platform. The calibration experiment, step test experiment, heavy load test experiment, system combination test and so on are carried out. The experimental results show that the multi-layer multi-axis synchronization control has high synchronization performance and stability.
【学位授予单位】：中国科学技术大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TL622
本文编号：2343356
[Abstract]:This paper focuses on the study of multi-layer and multi-axis synchronous control of PF6 poloidal field coil winding in ITER device. Due to the large winding size of PF6 coil, the high dimensional precision of single-turn conductor winding, the precision of winding length, the efficiency of winding and the stability of control system, this paper focuses on the research of multi-layer and multi-axis synchronous control of PF6 poloidal field coil winding in ITER device. The synchronization system with multi-layer multi-axis topology is adopted. The research of multi-layer and multi-axis synchronous control system is comprehensive and covers many disciplines. It is of great theoretical and practical significance to develop this research in depth to improve the development level of large coil winding in China. Based on the analysis of the existing synchronization control methods at home and abroad, this paper studies and compares various synchronization schemes, and analyzes the effects of different schemes on the synchronization control performance of the system and its improvement measures. The experiment platform of ITER PF6 coil double wire and synchronous control is built. The main research work and results are as follows: the structure and characteristics of ITER PF6 coil are introduced, the winding process at home and abroad is studied, and the winding process is analyzed. Winding process consisting of bending forming and rotating platform. Based on the study of traditional synchronization control methods, a multi-layer and multi-axis topology synchronization control is proposed, which has wider and more comprehensive structural characteristics. In this paper, the synchronization strategy of the same layer reference synchronization control, multi-layer multi-axis master-slave synchronization control and multi-layer multi-axis virtual spindle synchronization control under multi-layer and multi-axis topology is analyzed, and the simulation modeling of multi-layer and multi-axis synchronous control object is carried out. The influence of parameters on synchronization performance and its setting method are studied. Based on the research of multi-axis synchronous control theory, a control method with multi-layer multi-axis overlapping cross-coupling error is proposed, in which all motors follow the same given reference signal uniformly. The axis of the same layer is a loop coupling control method based on the same given control plus error compensation. The interlayer axis is controlled by master-slave synchronization. Through analysis, it is concluded that the synchronization error between layers increases with the increase of the number of layers. The multi-layer multi-axis cross-coupling error mainly includes the tracking error and synchronization error. For the complex synchronous control system with multi-layer and multi-axis topology, this method improves the synchronization performance of the system and is an ideal synchronization control method. A master-slave synchronous control system with multi-layer and multi-axis topology is adopted. The ITER PF6 superconducting coil is divided into nine double pie structures. The experimental platform of ITER PF6 coil double-wire and winding synchronous control system is built. The two winding wires are distributed symmetrically at 180 degrees. The speed of the conductive B feeder is determined by the speed of the rotating table. The PF6 coil winding system is a interconnected multi-axis linkage system, because of the large conductor size of the PF6 coil. Because of the high precision of the coil and the special requirement of the multi-axis control in the winding process of the coil, the study of the multi-layer and multi-axis topology in the winding system of the PF6 coil is not only of great and direct significance to the winding of the PF6 coil. It can also provide experience for the design of complex control system for large magnet winding in the future. The multilayer and multi-axis synchronous control system is studied in the order of setting up the PF6 coil winding experiment platform. The calibration experiment, step test experiment, heavy load test experiment, system combination test and so on are carried out. The experimental results show that the multi-layer multi-axis synchronization control has high synchronization performance and stability.
【学位授予单位】：中国科学技术大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TL622
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