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Decentralized Friction Stir Welding Control on Canisters for Spent Nuclear Fuel
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Lunds Universitet.
Svensk Kärnbränslehantering AB.
2013 (English)Report (Other academic)
Abstract [en]

The Swedish nuclear waste will be stored in copper canisters and kept isolated deep under ground for at least 100,000 years. To ensure reliable sealing of the canisters, friction stir welding is utilized. To repetitively produce high quality welds, it is vital to use automatic control of the process. A decentralized solution is designed based on an already existing temperature controller and a proposed linear plunge depth controller. The plunge depth control is challenging mainly because of deection in the machine, thermal expansion and cross couplings in the process. The decentralized controller has been implemented and evaluated on the real system with good results, keeping the plunge depth within the necessary 0:1 mm of its setpoint at the same time as the temperature specications are met.

Place, publisher, year, edition, pages
2013. , 20 p.
LiTH-ISY-R, ISSN 1400-3902 ; 3062
Keyword [en]
Decentralized Control, Plunge Depth Control, Stir Zone Temperature Control, Friction Stir Welding, Copper Canisters, Nuclear Waste, SKB
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-91571ISRN: LiTH-ISY-R-3062OAI: diva2:618349
Available from: 2013-04-26 Created: 2013-04-26 Last updated: 2014-09-19Bibliographically approved

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Decentralized Friction Stir Welding Control on Canisters for Spent Nuclear Fue(2194 kB)411 downloads
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Nielsen, Isak
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Automatic ControlThe Institute of Technology
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