Research On The Model And Control Problems Of The Bi-directional Sealing Door(BSD) For The TECA Transfer Cask

It becomes a very urgent task to find a new alternative energy sources since the traditional non-renewable energy exhausting gradually. And it is recognized that the fusion energy is the best alternative energy sources so far. International Thermonuclear Experimental Reactor (ITER, International Thermonuclear Experimental Reactor) pro-gram, one of the international cooperation projects, is a program to explore whether the commercial fusion power station can be built to use or not. However, its unique struc-ture and working principle make the maintainability of the power station more difficult. To solving these problems, a remote handling system is offered and is treated as the most feasible method as far as we know. As one of the most important parts of the re-mote handling system, the transport vehicle system is designed to teardown,install and transport components which need to be fixed between fusion reactor and heat chamber. TECA (Transfer Equipment Cask) Transfer Vehicle System is one of the special na-tional research project for ITER program, aiming at breaking down the theoretical and Physical problems and verifying the Feasibility of ITER remote operating transport ve-hicle system. And, BSD(Bi-directional seal door system) is one of the key components in TECA transport vehicles system.Under the protection of the BSD, the contamination and radioactive substance in fusion reactor would not be leaked during the remote han-dling actuator working in the fusion reactor.For this reason,BSD should have a reliable control system to be opened or closed smoothly,safely and accurately. So designing an efficient Control system becomes particularly important.This paper describes the composition, function and movement procedure of the BSD in detail, and also describes the structure and composition of BSD control system platform. Based on the BSD structure parameters, the kinematics and dynamics model of the BSD when opening and closing process is established. Because the hydraulic system is act as the actuator in the BSD system, the valve controlled asymmetric cylinder simplified dynamics model is built also, Experimental results show that the kinematics model is reasonable and reliable.The classical PID control method is used to overcome the difficulty of the Hy-draulic Servo control. After adjusting the PI parameters to make the performance of the control system perfect, the BSD can track the movement trajectory set based on the kinematics before. And tracking control experiments show that, within the error permis-sible range, the control system based on the PI control law can meet the requirements of stability and precision.The asymmetry of hydraulic cylinder could cause the movement inconsistency be- tween opening and closing process. And this may cause the control system unstable. So, a compensation method to eliminate the inconsistencies is established by detect the pressure in cylinder. Theoretical calculations show that this method is reasonable and feasible.Because of the existence of time varying and indeterminacy in hydraulic servo system, the classical PID control method could not meet the control Requirements sometimes.So, a method based on the state feedback is proposed. This method can composite more information from the system inside to behave more accurate control performance. Theoretical calculations show that this method can provide an idea for optimizing the BSD control system.The research tries to implement the accuracy con-trol for BSD by using more than one method,and it could provide an idea to design a more High-performance control system for BSD.