Analyzing trajectory tracking accuracy of a flexible multi-purpose deployer

摘要

Multi-purpose deployer (MPD), an articulated heavy load handling remote handling system, is considered as a potential RH system that can be used for a fusion reactor. In this study, dynamic equations of rigid-flexible coupling of the MPD were derived. A neural network adaptive sliding mode controller (NNASMC) was subsequently designed based on the complex nonlinearity and uncertainty of the dynamic MPD model to ensure accurate trajectory tracking of the MPD. The stability and robustness of the proposed method were analyzed based on the Lyapunov stability theory. The control performance of the NNASMC was simulated using ADAMSMATLAB/Simulink. The position tracking accuracy of the MPD under the combined action of NNASMC, MPD's rigid-flexible coupling model, model uncertainty, and flexible deformation errors was analyzed. Results show that the MPD tracking error occurs mainly due to the deformation of the connecting rods and joints. This finding provides a reference for the MPD controller design and improvement in its tracking accuracy.