| According to PF6 coil winding precision cold forming size,the high dimensional accuracy of single-turn conductor shape,and wound accurate,winding characteristics of stability and the efficiency of system,the paper proposes multi-layer and multi-axis topology synchronization system that focuses on the ITER device polodial field PF6 control winding.Multi-layer and multi-axis synchronization control technology involves multiple disciplines,which is comprehensive,relevant research to improve china's large coil winding technology has important theoretical and practical significance.Based on the analysis of the existing synchronization control principle at home and abroad,the program focuses on a variety of synchronization which are compared and analyzed the different options for system synchronization control performance and its improvement measures.ITER PF6 winding in a "two-in-hand" experiment platform is built.The ITER PF6 coi and the winding process are analyzed,coil winding process is mainly by using conductor de-spooling unit,straightening and correcting unit,sand-blasting,bending and molding unit,the rotating platform and other units in analysis of domestic and international.The paper proposes the multi-layer and multi-axis topology synchronization control structure in terms of having a broader and more comprehensive structural features on the basis of traditional synchronization control.The multi-layer and multi-axis topology synchronization,the same floor master reference control,multi-layer and multi-axis master-slave synchronization control,multi-layer and multi-axis virtual synchronization control strategy were analysed,which are built a multi-axis synchronization control object modeling and simulation.This dissertation studies program parameters for the synchronization performance of law and setting method.In multi-axis synchronization control theory,a novel alogrithm in multi-layer and multi-axis systems based on the combine cross coupling error is proposed,all follow motors are unanimously given reference signal to implement.The axis of same layer is based on the same given control error compensation with ring-cross-coupling control mode,the axis of interlayer is master-slave synchronization control mode.The synchronization error becomes greater between the layers with the number of layers increases.The cross-coupling error of multi-layer and multi-axis is mainly composed of the tracking error and synchronization error.For multi-layer and multi-axis motor complex multilayer systems,this alogrithm can improve the synchronization performance of the system,which is an ideal synchronous control strategy.ITER PF6 superconducting coils are divided into 9 pairs of Double Pancake based on a multi-layer and multi-axis master-slave synchronization control system,the experiments build ITER PF6 coil winding bifilar synchronous control system,two production lines were wound 180 completely symmetrical in a "two-in-hand"configuration.The main supply line is conductor A,the volecity of the rotary table determines the the volecity of conductor B.PF6 coil winding system is a multi-axis linkage interconnected system,the large size of PF6 coil conductors requires high precision coil,the coil winding process has specific requirements for the multi-axis control.The multi-layer and multi-axis topology synchronization system has not only important and immediate significance for completing the PF6 coil winding,but also provides experience for future large-scale complex control system for the large superconducting coil winding.In order to build a platform for experiments,the paper reseaches experimental study of multi-layer and multi-axis synchronization control system,calibration test,step testing,overloaded testing,joint test system,experiments proved that multi-layer and multi-axis synchronization control system has higher synchronization performance and stability. |
PDF Full Text Request