| 引用本文: | 付云,冯明辉,黄玉水,彭杰.输入受限的核燃料装卸机边界振动控制[J].控制理论与应用,2026,43(4):874~882.[点击复制] |
| FU Yun,FENG Ming-hui,HUANG Yu-shui,PENG Jie.Boundary vibration control for a nuclear refueling machine with input constraint[J].Control Theory & Applications,2026,43(4):874~882.[点击复制] |
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| 输入受限的核燃料装卸机边界振动控制 |
| Boundary vibration control for a nuclear refueling machine with input constraint |
| 摘要点击 92 全文点击 22 投稿时间：2024-03-24 修订日期：2025-12-19 |
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| DOI编号 10.7641/CTA.2024.40169 |
| 2026,43(4):874-882 |
| 中文关键词 核燃料装卸机 分布参数控制系统 振动控制 边界控制 输入限制 |
| 英文关键词 nuclear refueling machine distributed parameter control system vibration control boundary control input constraint |
| 基金项目 国家自然科学基金项目(62063022)资助. |
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| 中文摘要 |
| 本文研究输入受限的核燃料装卸机的振动控制及位置控制. 为完成预期运行任务, 核燃料装卸机夹紧燃料
棒在水下沿导轨移动. 本文考虑外部干扰的影响并分析燃料棒振动与装卸机运动间的耦合作用, 建立了非齐次高阶
刚柔耦合分布参数模型. 运用反步法, 设计边界控制方案来运送燃料棒至给定位置, 并同时约束燃料棒的侧向及横
向振动. 构造双曲正切函数以抑制外部干扰的影响. 引进辅助系统及Nussbaum函数来处理输入饱和问题. Lyapunov
稳定性分析和仿真实验均证明了本文所提边界控制方案可以确保核燃料装卸机系统一致有界稳定. |
| 英文摘要 |
| This paper investigates the vibration and position control of a nuclear refueling machine with input constraints. To accomplish the intended operational tasks, the refueling machine grips fuel rods and moves underwater along
guide rails. Taking into account the effect of external disturbances and analyzing the coupling between the vibration of
the fuel rods and the motion of the refueling machine, a nonhomogeneous high-order rigid-flexible coupled distributed
parameter model is developed. The backstepping method is employed to design a boundary control scheme aimed at
transporting fuel rods to specified positions while simultaneously constraining their lateral and transverse vibrations. A
hyperbolic tangent function is constructed to offset the influence of external disturbances. Auxiliary systems and a Nussbaum function are introduced to address the problem of input saturation. Both Lyapunov stability analysis and simulation
experiments demonstrate that the boundary control scheme proposed in this paper can uniformly boundedly stabilize the
nuclear refueling machine system. |