Research On Intelligent Air Tranfer System And Control Methods

The IATS (Intelligent Air Transfer System) is a key solution to high loads for the special instrument with large scale and heavy loads, especially for unbearable sophis-ticated problems including vibration and much more stable moving, which need to be transferred with high precision and more stable moving. For the industry needs and special transports, more researchs will be focused on the air film transporter.There are many restricted factors such as characteristics of ports on the Tokamak and narrow galleries from the Hot Cell Building (HCT) to the TB (Tokamak Build-ing) in the ITER (International Thermonuclear Experimental Reactor). The IATS takes great advantages obviously on flexible path planning and loading performance because of the confined footprint in the environment of the ITER. A flexible transporter, as a key equipment, is eagerly desired for the Remote Handling (RH) in a fusion nuclear environment.This dissertation is originated from the the China domestic plan (ITER) and funded by National Science and Technology Major Project of China (NO.2012GB102002), which is the partial research of the TECA (Transfer Equipement Cask System) for ITER. This dissertation presents the design on the IATS which could be used to transfer cask system over30tons with those effective factors including tight integration, large bearing capacity, flexible path planning and high precision of positioning in4mm, hence it is the preferred transporter in a fusion nuclear environment. And that, modules design on the IATS for the TECA are discussed that intelligent characteristics accord with the requirements of the RH (Remote Handling). At the same time, the dissertation aimed at existing problems of air bearing and discussed on control schemes and methods in order to competent the demanding schedules with precise positioning, stable carrying capacity for the TECA.The major research and innovative results are as follows:1. The dissertation presented the detail discussion on the IATS for the TECA.2. In view of the characteristics of air bearing, fluid and state equations are es-tabliesed for pnumatic servo driving.3. According to the characteristics of air bearing control, various PID control meth-ods are disccused and compared, including PID, IMC-PID, adaptive fuzzy PID control. And that, more practical and the better PID control is conclued for air bearing.4. The dissertation introduced a adaptive backstepping sliding mode controller for the high precise pressure control. And then, a servo control has done for delated thickness of air bearing. 5. The research work and achievements tested and verified the control schemes and methods according to the joint simulation of Matlab-AMESim. Moreover, the control scheme could enhance the stable working of air bearing.As discussed above, this dissertation presents modules design on the IATS for the TECA, thoroughly discusses the orifice flow of air bearing and mathmatical description on the pneumatic servo driving and establishment of the state equations. Using PID and its related intelligent methods, these could realize the position servo driving control. And that, the dissertation introduces a backstepping adaptive sliding mode controller for the high precise pressure control. The research work we presented can improve the ablities and intelligent levels of the ATS. All of these designs lead to the realistic and extended applications in the Remote Handling for ITER.