On the control performance of motors driven by long cables for remote handling at ITER
| Autor: | Salvador Esque, Enrique del Sol, Richard Meek, Emilio Ruiz Morales, Ricardo Vitelli |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
010302 applied physics
Test bench Computer science Mechanical Engineering 020208 electrical & electronic engineering Choke System safety 02 engineering and technology 01 natural sciences Automotive engineering Power (physics) Nuclear Energy and Engineering 0103 physical sciences Teleoperation 0202 electrical engineering electronic engineering information engineering Snubber General Materials Science Actuator Pulse-width modulation Civil and Structural Engineering |
| Zdroj: | Fusion Engineering and Design. 107:90-99 |
| ISSN: | 0920-3796 |
| Popis: | Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER. |
| Databáze: | OpenAIRE |
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