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Contents
1Introduction7
1.1General
7
1.2Background
8
1.3 Purpose and scope of this report
8
2
KBS-3H deposition machine9
2.1General
9
2.2Requirements
11
3Updates13
3.1 Hardware updates
13
3.1.1 Basic mechanical updates
13
3.1.2 New instrumentation
18
3.1.3 Basic electrical updates
22
3.1.4 New actuation system
25
3.2 Software updates
26
3.2.1General
26
3.2.2 Documentation 26
3.2.3 Software project
27
3.2.4 Software structure
27
3.2.5Communication
28
3.2.6 Electric drives
28
3.2.7Balancing
29
3.2.8 Automated sequences
30
3.2.9 Semi-automatic driving
30
3.2.10 Machine position
31
3.2.11 Other – PLC
31
3.2.12 Other – HMI
32
3.2.13 Data logging
33
3.2.14 Known issues
33
3.3 Control method improvement
33
3.3.1 Transversal sliding prevented by accurately displaced guiding rails 33
3.3.2 Enhancing the counter balance control 34
3.3.3 Enhancing the wheel control
34
3.3.4 Increasing instability with increasing lifting height counteracted
with water pressure adjustment and limited lifting time
34
3.3.5 Weakening torsional force counteracted by limiting stroke length
34
3.3.6 Uneven lifting counteracted by cushion deactivation 35
3.3.7 Drifting tendency due to misaligned pallet and sliding plate
counteracted by accurate pallet calibration
35
3.3.8 Random misalignment of pallet and sliding plate counteracted
by active front steering
36
3.3.9 Composite control strategy reacting on machine behaviour
and inclination
36
4
4.1
4.2
4.3
5
5.1
Test programme37
Supercontainer dummy tests
37
Distance block dummy tests
37
4.2.1 Automatic handling of distance blocks of various lengths
37
4.2.2 Depositing tight against the drift end or another unit
38
4.2.3 Functional testing of the distance block feet
38
Bentonite distance block tests
40
Results from the MPT deposition43
General deposition results
43
5.1.1 Consistent machine balancing
43
SKB P-14-085