ICF激光装置靶定位系统运动学耦合问题研究*

doi:10.3901/JME.2016.11.063

机械工程学报 ›› 2016, Vol. 52 ›› Issue (11): 63-71.doi: 10.3901/JME.2016.11.063

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ICF激光装置靶定位系统运动学耦合问题研究^*

程宁波^{1, 2}, 冯斌¹, 贾怀庭¹, 李富全¹, 魏晓峰¹

1. 中国工程物理研究院激光聚变研究中心绵阳 621900;
2. 中国科学院自动化研究所北京 100190

出版日期:2016-06-05 发布日期:2016-06-05
作者简介:程宁波,男,1983年出生,博士,助理研究员。主要研究方向为并联机构与控制、机器人技术。E-mail：ningbo.cheng@ia.ac.cn;魏晓峰(通信作者),男,1960年出生,博士,研究员,博士研究生导师。主要研究方向为高功率固体激光器技术与工程。E-mail：xfwei@caep.ac.cn

Kinematic Coupling Problem of the Target-positioning System of the Laser Facility for ICF

CHENG Ningbo^{1, 2}, FENG Bin¹, JIA Huaiting¹, LI Fuquan¹, WEI Xiaofeng¹

1. Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang 621900;
2. Institute of Automation, Chinese Academy of Science, Beijing 100190

Online:2016-06-05 Published:2016-06-05

摘要/Abstract

摘要： 靶定位系统是惯性约束聚变(Ignition confinement fusion, ICF)激光装置靶场系统的重要子系统之一,但在调靶过程中表现出运动学耦合现象。为了解决此问题,建立靶定位系统的运动学模型,给出靶定位系统产生运动学耦合现象的理论解释,提出一种实用的、与靶的类型无关的“增量式”位姿调整方法,给出该调整方法中必需的一个姿态矩阵的辨识方法。考虑实际靶定位系统中靶传感器的测量能力和六自由度并联机械手的定位能力这两个关键方面的约束条件,对姿态矩阵辨识方法和“增量式”位姿调整方法进行仿真验证。仿真结果表明,“增量式”位姿调整方法不仅有效地解决了靶定位系统的运动学耦合问题,而且能够在靶的期望位置增量不超过一定值(如2 mm)时保证很高的位置控制精度。

关键词: ICF, 靶定位系统, 激光装置, 运动学耦合

Abstract: Target-positioning system (TPS) is one of the important subsystems of the target area of the laser facility for ignition confinement fusion (ICF). However, TPS shows to have kinematic coupling problem in target alignment. To solve this problem, the kinematic model of the TPS is constructed and theoretical explanation of why TPS is kinematic coupled is given. And an “incremental” position & orientation control method (IPOCM) is proposed which is independent of target types and much of practical use. A matrix identification method is then proposed to obtain the orientation matrix that will be used in IPOCM. Simulations are performed to verify the matrix identification method and the IPOCM, considering constraint conditions of two key aspects of the TPS, the measurement capability of the target sensor and the positioning capability of the 6-degree-of-freedom parallel manipulator. Simulation results show that IPOCM is able to effectively solve the kinematic coupling problem of the TPS, and that IPOCM has the capability of high precision position control under the condition that the expected position increment of the target is no more than a certain value ( 2 mm for example ).

Key words: ignition confinement fusion(ICF), kinematic coupling, laser facility, target position system

中图分类号:

TP242

程宁波, 冯斌, 贾怀庭, 李富全, 魏晓峰. ICF激光装置靶定位系统运动学耦合问题研究^*[J]. 机械工程学报, 2016, 52(11): 63-71.

CHENG Ningbo, FENG Bin, JIA Huaiting, LI Fuquan, WEI Xiaofeng. Kinematic Coupling Problem of the Target-positioning System of the Laser Facility for ICF[J]. Journal of Mechanical Engineering, 2016, 52(11): 63-71.

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ICF激光装置靶定位系统运动学耦合问题研究^*

Kinematic Coupling Problem of the Target-positioning System of the Laser Facility for ICF

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