【摘要】：本文圍繞ITER裝置PF6極向場(chǎng)線圈繞制多層多軸同步控制的研究,由于PF6線圈繞制尺寸大、單匝導(dǎo)體繞制成形的尺寸精度高、繞制計(jì)長精確、繞制的效率及控制系統(tǒng)穩(wěn)定性的特點(diǎn),采用具有多層多軸拓?fù)浣Y(jié)構(gòu)的同步系統(tǒng)。多層多軸同步控制系統(tǒng)的研究具有綜合性強(qiáng)且涵蓋多門學(xué)科,深入開展這方面的研究對(duì)于提高我國大型線圈繞制的研制水平具有重要的理論和實(shí)際意義。本文在分析國內(nèi)外現(xiàn)有的同步控制方法的基礎(chǔ)上,對(duì)多種同步方案進(jìn)行了研究比較,分析了不同方案對(duì)于系統(tǒng)同步控制性能影響及其改進(jìn)措施,搭建了ITER PF6線圈雙線并繞同步控制實(shí)驗(yàn)平臺(tái)。論文主要研究工作及成果如下:介紹了ITER PF6線圈結(jié)構(gòu)和繞制特點(diǎn),研究國內(nèi)外的線圈繞制流程,對(duì)繞制過程進(jìn)行了分析,主要采用了導(dǎo)體放送、矯直校正、噴砂清洗、彎繞成型及回轉(zhuǎn)平臺(tái)等單元組成的繞制過程。在研究傳統(tǒng)同步控制方法基礎(chǔ)上,提出了多層多軸拓?fù)浣Y(jié)構(gòu)同步控制,具有更廣更全面的結(jié)構(gòu)特征。深入分析了多層多軸拓?fù)浣Y(jié)構(gòu)下的同層主令參考同步控制、多層多軸主從同步控制、多層多軸虛擬主軸同步控制策略,進(jìn)行了多層多軸同步控制對(duì)象的仿真建模。研究了系統(tǒng)中參數(shù)對(duì)于同步性能的影響規(guī)律及其設(shè)定方法。在多軸同步控制理論研究基礎(chǔ)上,提出一種具有多層多軸疊形交叉耦合誤差的控制方法,即所有電機(jī)對(duì)同一給定的參考信號(hào)實(shí)現(xiàn)一致跟隨,同層的軸間為基于同一給定控制加誤差補(bǔ)償?shù)沫h(huán)形耦合控制方式,層間軸通過主從同步控制方式,經(jīng)過分析得出隨著層數(shù)增加層間的同步誤差增大,多層多軸疊形交叉耦合誤差主要有層間的跟蹤誤差和同步誤差。對(duì)于多層多軸拓?fù)浣Y(jié)構(gòu)的復(fù)雜同步控制系統(tǒng),該方法進(jìn)一步提高了系統(tǒng)的同步性能,是一種比較理想的同步控制方法。采用以多層多軸拓?fù)浣Y(jié)構(gòu)的主從同步控制系統(tǒng),針對(duì)ITER PF6超導(dǎo)線圈分為9個(gè)雙餅結(jié)構(gòu),搭建了ITER PF6線圈雙線并繞同步控制系統(tǒng)實(shí)驗(yàn)平臺(tái),兩條繞制線呈180度完全對(duì)稱分布,采用A饋送線被選擇作為主,導(dǎo)電體B饋送線設(shè)備的速度由旋轉(zhuǎn)臺(tái)的速度來確定的方式。PF6線圈繞制系統(tǒng)是相互關(guān)聯(lián)的多軸組成的聯(lián)動(dòng)系統(tǒng),由于PF6線圈導(dǎo)體尺寸大,線圈要求精度高,線圈繞制過程中的多軸控制有特定要求,因此對(duì)PF6線圈繞制系統(tǒng)中多層多軸拓?fù)浣Y(jié)構(gòu)的研究,不僅對(duì)完成PF6線圈的繞制工作有重要和直接的意義,而且也可為今后大型磁體繞制的復(fù)雜控制系統(tǒng)設(shè)計(jì)提供經(jīng)驗(yàn)。以搭建PF6線圈繞制實(shí)驗(yàn)平臺(tái)的順序進(jìn)行了多層多軸同步控制系統(tǒng)的實(shí)驗(yàn)研究,進(jìn)行了標(biāo)定實(shí)驗(yàn)、分步測(cè)試實(shí)驗(yàn)、重載測(cè)試實(shí)驗(yàn)、系統(tǒng)聯(lián)調(diào)實(shí)驗(yàn)等,實(shí)驗(yàn)驗(yàn)證了多層多軸同步控制具有較高的同步性能和穩(wěn)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.
【學(xué)位授予單位】：中國科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TL622

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