A new 300 MVA/1350 MJ motor generator （MG） will be built to feed all of the poloidal field power supplies （PFPS） and auxiliary heating power supplies of the HL-2M tokamak. The MG has a vertical-shaft salient pole ...A new 300 MVA/1350 MJ motor generator （MG） will be built to feed all of the poloidal field power supplies （PFPS） and auxiliary heating power supplies of the HL-2M tokamak. The MG has a vertical-shaft salient pole 6-phase synchronous generator and a coaxial 8500 kW induction motor. The Ohmic heating power supply （OHPS） consisting of 4-quadrant DC pulsed convertor is the one with the highest parameters among the PFPS. Therefore, the match between the generator and the OHPS is very important. The matching study with Matlab/Simulink is described in this paper. The simulation results show that the subtransient reactance of the generator is closely related to the inversion operation of the OHPS. By setting various subtransient reactance in the simulation generator model and considering the cost reduction, the optimized parameters are obtained as xd＂ = 0.405 p.u. at 100 Hz for the generator. The models built in the simulation can be used as an important tool for studying the dynamic characteristics and the control strategy of other HL-2M PFPSes.展开更多
The traditional pneumatic muscle robot joint has weak load capacity and low control precision.This paper proposes a bionic robotic ankle driven by multiple pneumatic muscle actuators.The structural design of the bioni...The traditional pneumatic muscle robot joint has weak load capacity and low control precision.This paper proposes a bionic robotic ankle driven by multiple pneumatic muscle actuators.The structural design of the bionic robotic ankle and the drive mechanism that imitates human muscle recruitment are introduced.A dynamic model of the ankle and a static model of the pneumatic muscle actuator are established to analyze the driving characteristics.The multi-muscle recruiting strategy and load matching control method are optimized,and the output characteristics are simulated,including the robotic ankle driven by a single pneumatic muscle actuator,the robotic ankle driven by dual pneumatic muscle actuators,and the bionic ankle driven by multiple pneumatic muscle actuators.A prototype and testing platform are developed,and experimental research is carried out to validate the theoretical analysis and simulation.The results show that the bionic robotic ankle driven by multiple pneumatic muscle actuators can match varied loads,effectively reducing angle error and increasing output force.展开更多
文摘A new 300 MVA/1350 MJ motor generator （MG） will be built to feed all of the poloidal field power supplies （PFPS） and auxiliary heating power supplies of the HL-2M tokamak. The MG has a vertical-shaft salient pole 6-phase synchronous generator and a coaxial 8500 kW induction motor. The Ohmic heating power supply （OHPS） consisting of 4-quadrant DC pulsed convertor is the one with the highest parameters among the PFPS. Therefore, the match between the generator and the OHPS is very important. The matching study with Matlab/Simulink is described in this paper. The simulation results show that the subtransient reactance of the generator is closely related to the inversion operation of the OHPS. By setting various subtransient reactance in the simulation generator model and considering the cost reduction, the optimized parameters are obtained as xd＂ = 0.405 p.u. at 100 Hz for the generator. The models built in the simulation can be used as an important tool for studying the dynamic characteristics and the control strategy of other HL-2M PFPSes.
基金supported by the National Natural Science Foundation of China(52005369)Open Project Fund of Tianjin Key Laboratory of Integrated Design and Online Monitoring of Light Industry and Food Engineering Machinery and Equipment(2020LIMFE05).
文摘The traditional pneumatic muscle robot joint has weak load capacity and low control precision.This paper proposes a bionic robotic ankle driven by multiple pneumatic muscle actuators.The structural design of the bionic robotic ankle and the drive mechanism that imitates human muscle recruitment are introduced.A dynamic model of the ankle and a static model of the pneumatic muscle actuator are established to analyze the driving characteristics.The multi-muscle recruiting strategy and load matching control method are optimized,and the output characteristics are simulated,including the robotic ankle driven by a single pneumatic muscle actuator,the robotic ankle driven by dual pneumatic muscle actuators,and the bionic ankle driven by multiple pneumatic muscle actuators.A prototype and testing platform are developed,and experimental research is carried out to validate the theoretical analysis and simulation.The results show that the bionic robotic ankle driven by multiple pneumatic muscle actuators can match varied loads,effectively reducing angle error and increasing output force.
