某型水下航行器上舰吊装机械臂智能控制
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摘要
某型水下航行器是实现对潜目标精确制导攻击的水中兵器,上舰吊装是实现该型水下航行器发射准备的关键环节。为了提高水下航行器上舰吊装的智能性,采用智能机械臂进行吊装控制,提出一种基于载荷转移机构加载和末端姿态力学参量调节的水下航行器上舰吊装机械臂智能控制技术。分析水下航行器装舰的技术准备流程和关键技术,构建水下航行器上舰吊装机械臂承压控制的约束参量模型,进行水下航行器上舰吊装机械臂的载荷转移机构承载力学分析,建立上舰吊装机械臂的移动平台和动力驱动单元,结合反馈补偿方法进行水下航行器上舰吊装机械臂承压力学控制,采用有限元动力学分析方法构建水下航行器吊装机械臂的控制律,实现水下航行器上舰吊装机械臂承压力矩控制,提高水下航行器上舰吊装的位姿自动调整能力。仿真结果表明,采用该方法进行水下航行器上舰吊装机械臂智能控制的稳定性较好,对水下航行器吊装过程的位姿跟踪准确性较高,提高了水下航行器装舰的安全性和智能性。
A certain type of underwater vehicle is a kind of underwater weapon which can realize the precise guidance and attack to the submarine target. The hoisting of the ship is the key link to realize the launching preparation of the underwater vehicle. In order to improve the intelligence of ship hoisting on board underwater vehicle,an intelligent control technique is proposed based on loading of a load transfer mechanism and adjustment of mechanical parameters of terminal attitude for hoisting manipulator on board. The technical preparation flow and key technology of underwater vehicle loading are analyzed,and the constraint parameter model of pressure control of ship hoisting manipulator is constructed,and the load-transfer mechanism carrying capacity of ship hoisting robot arm on underwater vehicle is analyzed. The moving platform and the power driving unit of the hoisting robot arm are established,and the pressure bearing mechanics control of the ship hoisting arm of the underwater vehicle is carried out by combining the feedback compensation method. The finite element dynamic analysis method is used to construct the control law of the underwater vehicle hoisting arm,to realize the pressure moment control of the underwater vehicle ship hoisting robot arm,and to improve the automatic adjustment ability of the position and posture of the underwater vehicle ship hoisting arm. The simulation results show that the proposed method is more stable for the intelligent control of underwater vehicle hoisting manipulator,and has higher accuracy of position and pose tracking in the process of underwater vehicle hoisting,and improves the safety and intelligence of underwater vehicle loading.
A certain type of underwater vehicle is a kind of underwater weapon which can realize the precise guidance and attack to the submarine target. The hoisting of the ship is the key link to realize the launching preparation of the underwater vehicle. In order to improve the intelligence of ship hoisting on board underwater vehicle,an intelligent control technique is proposed based on loading of a load transfer mechanism and adjustment of mechanical parameters of terminal attitude for hoisting manipulator on board. The technical preparation flow and key technology of underwater vehicle loading are analyzed,and the constraint parameter model of pressure control of ship hoisting manipulator is constructed,and the load-transfer mechanism carrying capacity of ship hoisting robot arm on underwater vehicle is analyzed. The moving platform and the power driving unit of the hoisting robot arm are established,and the pressure bearing mechanics control of the ship hoisting arm of the underwater vehicle is carried out by combining the feedback compensation method. The finite element dynamic analysis method is used to construct the control law of the underwater vehicle hoisting arm,to realize the pressure moment control of the underwater vehicle ship hoisting robot arm,and to improve the automatic adjustment ability of the position and posture of the underwater vehicle ship hoisting arm. The simulation results show that the proposed method is more stable for the intelligent control of underwater vehicle hoisting manipulator,and has higher accuracy of position and pose tracking in the process of underwater vehicle hoisting,and improves the safety and intelligence of underwater vehicle loading.
引文
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[11]郭宪,马书根,李斌,等.基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究[J].自动化学报,2015,41(11):1847-1856.
[2]游有鹏,张宇,李成刚.面向直接示教的机器人零力控制[J].机械工程学报,2014,50(3):10-17.
[3]鞠晓东,郑振.基于末端轨迹修正的导弹跟踪稳定性控制方法[J].智能计算机与应用,2018,8(2):121-125.
[4]Uijlings J R R,Van de Sande K E A,Gevers T,et al. Selective search for object recognition[J]. International Journal of Computer Vision,2013,104(2):154-171.
[5]张丹凤,李斌,王立岩.基于连续体模型的蛇形机器人质心速度跟踪控制方法[J].机器人,2017,39(6):829-837.
[6]李可,米捷.基于变结构PID的仿生机器人机电控制算法[J].河南工程学院学报(自然科学版),2016,28(2):32-37.
[7]景奉水,杨超,杨国栋,等.机器人轨迹纠偏控制方法研究[J].机器人,2017,39(3):292-297.
[8]Zeiler M D,Fergus R. Visualizing and understanding convolutional netw orks[C]//13thEuropean Conference on Computer Vision.Berlin,German:Springer,2014:818-833.
[9]王俊刚,汤磊,谷国迎,等.超冗余度机械臂跟随末端轨迹运动算法及其性能分析[J].机械工程学报,2018,54(3):18-25.
[10]方群,张则强,李明.面向多目标拆卸线平衡问题的一种改进粒子群优化算法[J].现代制造工程,2016,(4):8-15.
[11]郭宪,马书根,李斌,等.基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究[J].自动化学报,2015,41(11):1847-1856.