Inertial confinement fusion (ICF) has the property of high energy density and can provide clean, economic and secure energy, which has become an effective way to solve the problem of future energy crisis. Target precision positioning is one of the key technologies of ICF. First of all, before the fusion, the target is positioned precisely near the center of the vacuum target chamber and seal shroud is fast removed. Then, in a very short period of time positioning robot is used to compensate error of the target’s pose, caused by the process of the shroud removal. Therefore how to accomplish the task of the shroud removal fast and how to complete high-precision target positioning accurately have become urgent for the target precision positioning system. Supported by the National Nature Science Foundation of China, vibration characteristics of the target precision positioning system and the precise are developed in the progress of the shroud removal. The research contents involve mechanical design for the whole target precision positioning system, force transmission characteristics and vibration analysis of the system, precision positioning and servo-control algorithms of the target in the low-frequency disturbances environment. The main work and contributions are described as follows, (1) The opening and closing shroud system based on gear transmission mechanism is presented. Because the shroud system and support positioning mechanism of the target are rigid connected, mechanical properties of the shroud is directly affect on the stability and vibration of the target. Adams model and performance testing method are adopted to analyze mechanical characters, such as transmission chain, drive unit. Meanwhile, comprehensive considering the design specifications, geometric size, cost and margin of the system, the shroud system based on gear transmission mechanism is completed. The experimental platform is built and its control system uses AC servo based on PMAC, which is the motion control card. (2) The model of the shroud support arm based on torsion elastic dynamics and the long cantilever model which is on the lateral elastic dynamics is developed. For the removal of the shroud fast, positioning error at the end of the long cantilever can cause its support arm’s torsion vibration. The models of the shroud support arm’s torsion elastic dynamics and the long cantilever’s elastic dynamics are established. Both models are used to analyze the force transmis...
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