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This paper studies the synchronization control of the blanket remote maintenance robot (BRMR) of the China fusion engineering test reactor (CFETR). First, the general state space mathematical model of BRMR was established by using a physical-based method. Second, based on the receding horizon optimization of model predictive control (MPC) and cross-coupling error reduction in cross-coupling control (CCC), the innovative MPC-CCC controller was proposed to realize the single-system and multisystem error convergence and high accuracy transportation of blanket through the high accuracy synchronization control of BRMR. Third, to verify the control effectiveness of the MPC-CCC controller, two types of simulations and experiments were implied compared with the original proportional-integral (PI) controller in Mover. Results showed that simulation and experiments were highly consistent. It is found that the use of an MPC-CCC controller can result in up to a 70% reduction in displacement error and up to a 59% reduction in synchronization error compared to the PI controller. And the accuracy of the MPC-CCC controller satisfies the real requirement of the maintenance process of the blanket. This work provides the theoretical basis and practical experience for the highly stable, safe, and efficient maintenance of blankets in the future.
Rotation vector-based attitude updating algorithms have been used as the mainstream attitude computation algorithms for many years. The most popular methodology for designing the rotation vector algorithm is by leveraging multiple samples of gyro integrated angular rate measurements. However, it has been pointed out by many researchers that the attitude updating accuracy is limited when using the multiple samples rotation vector algorithms, especially when the platforms work under high rate manoeuvres. The third-, fourth-, fifth- and sixth-order Picard component solutions of the rotation vector differential equation are given in this paper. A new design methodology for rotation vector-based attitude updating algorithms is proposed. Different vibratory dynamics and high rate manoeuvre roller coaster experiments were conducted to validate the effectiveness of the new algorithm. The results demonstrate the high accuracy of the new algorithm compared with conventional coning correction methods. The proposed algorithm can also be used in high accuracy attitude computation of a post-processing system, especially when the output frequency of the gyro is limited.
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